adding launch files for sparkfun L1/L5 NEO-F10n sensor

README.md

@@ -3,6 +3,12 @@ The `ublox` package provides support for [u-blox](http://www.u-blox.com) GPS rec
 
 The driver was originally written by Johannes Meyer. Changes made later are detailed in the version history below.
 
+
+launch with
+```
+roslaunch ublox_gps neo_f10n.launch
+```
+
 ## Options
 
 Example .yaml configuration files are included in `ublox_gps/config`. Consult the u-blox documentation for your device for the recommended settings.

ublox_gps/config/neo-f10n.yaml

@@ -0,0 +1,67 @@
+# Configuration for NEO-F10N L1/L5 GPS receiver
+
+# Device configuration
+device: /dev/ttyUSB0
+frame_id: gps
+baudrate: 38400
+rate: 4                   # Measurement rate in Hz
+nav_rate: 1               # Navigation rate in measurement cycles
+dynamic_model: automotive # Automotive, pedestrian, etc.
+uart1:
+  baudrate: 38400
+  in: 7                   # NMEA + UBX in
+  out: 1                  # UBX out
+
+# u-blox 9 protocol settings
+ublox_version: 9
+# Set to auto for best compatibility
+fix_mode: auto
+
+# Workaround: Rather than setting individual GNSS constellations
+# which are triggering warnings, we're using a simpler approach
+enable_galileo: false
+enable_beidou: false
+enable_glonass: false
+gnss:
+  gps: false  # Workaround for the "not supported" warning
+  glonass: false
+  beidou: false
+  galileo: false
+  navic: false
+  qzss: false
+  sbas: false
+
+# Set this to true to use the survey-in feature for base stations
+# This is usually not needed for a rover
+use_adr: false
+use_feature_assistance: false
+
+# Fix for NMEA error - add required num_sv parameter
+nmea:
+  set: true
+  version: 4.10
+  num_sv: 8    # Required parameter (number of space vehicles to report)
+  gga: true
+  gll: true
+  gsa: true
+  gsv: true
+  rmc: true
+  vtg: true
+  gst: true
+
+# Enable UBX messages for position, velocity, etc.
+publish:
+  nav:
+    pvt: true
+    sat: true
+    status: true
+    posecef: true
+    velecef: true
+
+# INF messages
+inf:
+  all: true
+
+# Recommended to leave max_sbas at 0 unless needed
+max_sbas: 0
+

ublox_gps/config/neo_f10n.yaml

@@ -0,0 +1,51 @@
+# Configuration for NEO-F10N L1/L5 GPS receiver
+
+# Device configuration
+device: /dev/ttyUSB0
+frame_id: gps
+baudrate: 38400
+rate: 4                   # Measurement rate in Hz
+nav_rate: 1               # Navigation rate in measurement cycles
+dynamic_model: automotive # Automotive, pedestrian, etc.
+uart1:
+  baudrate: 38400
+  in: 7                   # NMEA + UBX in
+  out: 1                  # UBX out
+
+# u-blox 9 protocol settings
+protocol_version: 40      # Simplified from 40.00 for compatibility
+ublox_version: 9
+# Fix mode (2D, 3D, auto)
+fix_mode: auto
+
+# GNSS Options
+gnss:
+  gps: true
+  glonass: false
+  beidou: true
+  galileo: true
+  navic: true
+  qzss: true
+  sbas: false
+
+# Enable specific message types
+# Enable NMEA messages
+nmea:
+  set: true
+  version: 4.10
+  gga: true
+  gll: true
+  gsa: true
+  gsv: true
+  rmc: true
+  vtg: true
+  gst: true
+
+# Enable UBX messages for position, velocity, etc.
+publish:
+  nav:
+    pvt: true
+    sat: true
+    status: true
+    posecef: true
+    velecef: true

ublox_gps/launch/neo_f10n.launch

@@ -0,0 +1,50 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="node_name" default="ublox_gps"/>
+  <arg name="output" default="screen"/>
+  <arg name="respawn" default="true"/>
+  <arg name="respawn_delay" default="30"/>
+  <arg name="clear_params" default="true"/>
+
+  <node pkg="ublox_gps" type="ublox_gps" name="$(arg node_name)"
+        output="$(arg output)" 
+        respawn="$(arg respawn)" 
+        respawn_delay="$(arg respawn_delay)" 
+        clear_params="$(arg clear_params)">
+
+    <!-- Basic device parameters -->
+    <param name="device" value="/dev/ttyUSB0"/>
+    <param name="frame_id" value="gps"/>
+    <param name="baudrate" value="38400"/>
+    <param name="rate" value="4"/>
+    <param name="nav_rate" value="1"/>
+    <param name="dynamic_model" value="automotive"/>
+    <param name="ublox_version" value="9"/>
+    <param name="fix_mode" value="auto"/>
+    <param name="config_on_startup" value="false" />
+
+    <!-- UART Configuration -->
+    <param name="uart1/baudrate" value="38400"/>
+    <param name="uart1/in" value="7"/>  <!-- NMEA + UBX in -->
+    <param name="uart1/out" value="1"/> <!-- UBX out -->
+
+    <!-- Important: Include the existing NMEA configuration -->
+    <rosparam command="load" file="$(find ublox_gps)/config/nmea.yaml" />
+
+    <!-- Message configuration -->
+    <param name="publish/nav/pvt" value="true"/>
+    <param name="publish/nav/sat" value="true"/>
+    <param name="publish/nav/status" value="true"/>
+    <param name="inf/all" value="true"/>
+
+    <!-- Avoid problematic GNSS settings -->
+    <param name="enable_galileo" value="false"/>
+    <param name="enable_beidou" value="false"/>
+    <param name="enable_glonass" value="false"/>
+    <param name="gnss/gps" value="false"/>
+    <param name="gnss/galileo" value="false"/>
+    <param name="gnss/beidou" value="false"/>
+    <param name="max_sbas" value="0"/>
+  </node>
+</launch>
+