saltybot_dronecan_gps 0.1.0 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) sl-perception MIT rclpy std_msgs sensor_msgs geometry_msgs ament_python ament_copyright ament_flake8 ament_pep257 python3-pytest ament_python