I have written a ROS driver / wrapper for the python package
ubxtranslator that expands the functionality from just the NEO-M8U to the ZED-F9P and allows for further expansion to other modules with different interface definitions. This is part of the work out of the Texas A&M Unmanned Systems Lab to integrate modules from Ardusimple for low-cost RTK GPS.
This driver can provide access to sensor data streams including
- High-precision lat/lon
- Low-precision lat/lon
- Relative 2d position for GPS heading
The source code is available here: