Modify code to support new GPS

[onkoe]

Goal

Support the new GPS.

Description

Modify the code to support the new GPS, likely to be Septentrio's great mosaic-Go X5 Evaluation Kit.

Checklist

Before we can do anything, these conditions must be true:

• GPS must be in-hand
• Hooked up to a power supply and the antenna
• microSD card inserted (for recording SBF messages)

Then, we can solve these problems:

• Go drive the Rover around on campus + at FEARS
  • We gotta gather enough data to understand what the receiver reports
  • Good time for tweaking its configuration AND BACKING IT UP ON GITHUB
• Analyze the microSD card's SBF files for the gathered data
• Find/implement a parser for Septentrio's SBF (Septentrio Binary Format)
  • Prefer using someone else's implementation. This one should be a worthy drop-in replacement for our SBP (Swift) library: https://docs.rs/libsbf/latest/libsbf/
  • Please note that the C and Python parsers look to be kinda hard to put in our Colcon workspace; avoid them if we can.
• Pass those messages as sensor_msgs::msg::NavSatFix on the /sensors/gps topic (like usual)
  • Requires editing lib/soro_gps/lib.rs to support the new types
• Stick the Rover outside, run the sensors_node using: ros2 run sensors sensors_node. Then, in another terminal, run: ros2 topic echo /sensors/gps
  • Used to check that everything works
  • Press Ctrl^C to stop running the command.