pairing tcpvel and tcpfix

[ArtlyStyles]

I noticed that the repo publish tcpvel and tcpfix separately. How can I pair the tcpvel and tcpfix message to make sure they come from the same emlid data packet?

Also, the tcpvel linear has a Nan when the object is not moving. Could you fix it?

[goldbattle]

You could try checking the timestamps, but the velocity publishing is normally a different data packet from the positional. You could sync outside of this package in your subscriber or try to change the logic here:
https://github.com/rpng/reach_ros_node/blob/master/src/reach_ros_node/driver.py#L83-L108

[ArtlyStyles]

Did you notice that emlid GPS data has an latency issue?

[goldbattle]

I would assume there would be if you are using RTK since that has a motino profile, but I am not sure about normal GPS.

[ArtlyStyles]

I am using RTK. Do you know how much the latency is?

[goldbattle]

I do not have any estimate or a guess.

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[ArtlyStyles]

I found it was about 150ms https://twitter.com/SmallpixelCar/status/1258825869281222657