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sl-jetson a4a2953326 feat: Here4 DroneCAN GPS driver + NTRIP client (RTK ready) — Issue #725

New packages:
- saltybot_dronecan_gps: DroneCAN driver for CubePilot Here4 RTK GPS
  - Subscribes uavcan.equipment.gnss.Fix2 (ID 1063) on can0 at 1Mbps
  - Publishes /gps/fix (NavSatFix), /gps/vel (TwistStamped), /gps/rtk_status
  - Maps DroneCAN fix_type 0-6 → sensor_msgs NavSatStatus + RTK label
  - Optional compass via uavcan.equipment.ahrs.MagneticFieldStrength
- saltybot_ntrip_client: NTRIP RTCM3 → DroneCAN RTCMStream forwarding
  - Connects to rtk2go.com:2101 (configurable), auto-reconnects
  - Forwards corrections to Here4 via uavcan.equipment.gnss.RTCMStream
  - Publishes /ntrip/status (CONNECTED / DISCONNECTED / ERROR:<reason>)

New launch file:
- here4_gps.launch.py: launches both nodes with unified CAN + NTRIP params

Updated:
- can_setup.sh: adds 1Mbps DroneCAN mode (sudo ./can_setup.sh up dronecan)
  keeping 500kbps VESC default; CAN_BITRATE env var still overrides both
- docker-compose.yml: adds here4-gps service with /dev/can0 device passthrough
  and NET_ADMIN cap; resolves leftover merge conflict markers
- outdoor_nav_params.yaml: adds Here4 config section, updates RTK docs

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-04-10 20:42:36 -04:00

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