<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>saltybot_dronecan_gps</name>
  <version>0.1.0</version>
  <description>
    DroneCAN/UAVCAN v0 bridge for Here4 GPS on the CANable2 SocketCAN adapter.
    Publishes GPS fix, IMU, magnetometer, and barometer data to ROS2.
    Injects RTCM corrections for RTK.

    bd-p47c: CANable2 freed from ESP32 BALANCE comms by bd-wim1.
    Here4 operates at 1 Mbps on can0 (was 500 kbps for VESC comms).

    System dependency: dronecan Python library (pip install dronecan)
  </description>
  <maintainer email="sl-perception@saltylab.local">sl-perception</maintainer>
  <license>MIT</license>

  <exec_depend>rclpy</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>sensor_msgs</exec_depend>
  <exec_depend>geometry_msgs</exec_depend>

  <!-- dronecan: pip install dronecan  (DroneCAN/UAVCAN v0 Python library) -->
  <!-- python3-can is a transitive dependency of dronecan -->

  <buildtool_depend>ament_python</buildtool_depend>

  <test_depend>ament_copyright</test_depend>
  <test_depend>ament_flake8</test_depend>
  <test_depend>ament_pep257</test_depend>
  <test_depend>python3-pytest</test_depend>

  <export>
    <build_type>ament_python</build_type>
  </export>
</package>
