Not able to change gps frame_id and child_frame_id

[nickcharron]

I am looking at the /gps/fix, /gps/rtkfix and /gps/time messages published by this driver, and the frame_id is named "gps" which I would like to change. It appears that the frame_id is hard coded into the driver, would it be possible to have this as a parameter input through the launch file?

Also, the /gps/rtkfix topic doesn't have anything for the child_frame_id. Can this also be another parameter?

Thanks

[ibaranov-cp]

Hey Nick :)

I'm taking a peek at this driver as well.
As a work around, would you not want to have your URDF simply create a fixed joint between a link you define (ex: gps_mount_link) and the hardcoded gps link?

As for the second RTK issue, http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html
shows that the header frame ID should be used for position, and the child frame ID for velocity. In this case, I'd think they should be the same... Not sure on rationale on them being any different.