SPARTN protocol changes for driver

[hortovanyi]

@ARK3r need to create a new Full Payload to send messages to the device ... it basically is taking the ros2 msg and creating a UBX binary payload to send (ie poll) out. look at load_from_msg method

ublox_dgnss/ublox_dgnss_node/include/ublox_dgnss_node/ubx/esf/ubx_esf_meas.hpp

Line 136 in 0c37a48

class ESFMeasFullPayload : UBXPayload

I suspect from what I'm seeing in this chat, is that a new node will be needed as a MQTT client as there are subscription and dynamic keys ... the ubx message allows for dynamic key sizes. I had to think twice about what I coded up for all of that. Extrapolating from the keys binary to the ubx poll payload, while tricky is not impossible - its a bit different from the other messages so takes some time.

I dont know the frequency of change in any of the those keys ?? at first I had thought they were relatively static but looking at your last comment makes me think not.

Have you created a MQTT client in c++ before for a ros2 node? I haven't and am not sure if the std ros2 build farm libraries include the client??? Normally this stuff when I try it, works and just compiles. I suspect the mqtt clients are standard libraries in linux distributions.

There doesnt seem to be anything here that suggests its not worthwhile doing, however I cant test it all so probably best for you to code it when you can. Can help you if you get stuck

Originally posted by @hortovanyi in #25 (comment)