readGpsCompassBaseline results in InvalidRegister error

[jfinken]

Sensor details:

• Model: VN-200T-CR
• Firmware Version: 2.0.0.1
• Hardware Version : 3

ROS2 version:

• ros2-foxy built from source

Symptom:

• connect() method of the vectornav ROS2 node calls readGpsCompassBaseline(). This results in an InvalidRegister error and crashes the node.

Example:

$ ros2 run vectornav vectornav
[INFO] [1617998363.122277432] [vectornav]: Connected to /dev/ttyUSB0 @ 115200 baud
[INFO] [1617998363.122711121] [vectornav]: Model: VN-200T-CR
[INFO] [1617998363.122783394] [vectornav]: Firmware Version: 2.0.0.1
[INFO] [1617998363.122834275] [vectornav]: Hardware Version : 3
[INFO] [1617998363.122878090] [vectornav]: Serial Number : 100060054
[INFO] [1617998363.122923450] [vectornav]: User Tag : ""
[INFO] [1617998363.323962161] [vectornav]: GPS Mode       : 0
[INFO] [1617998363.324118519] [vectornav]: GPS PPS Source : 0
[INFO] [1617998363.358180097] [vectornav]: GPS Offset     : (-0.060000, -0.010000, 0.150000)
[ERROR] [1617998363.373906003] [vectornav]: SensorError: 8
terminate called after throwing an instance of 'vn::sensors::sensor_error'
  what():  received sensor error 'InvalidRegister'

Thoughts?

This can be caught via something like:

    // GPS Compass Baseline
    // 8.2.3
    try {
      auto gps_baseline = vs_.readGpsCompassBaseline();
      RCLCPP_INFO(get_logger(), "GPS Baseline     : (%f, %f, %f), (%f, %f, %f)",
        gps_baseline.position[0], gps_baseline.position[1], gps_baseline.position[2],
        gps_baseline.uncertainty[0], gps_baseline.uncertainty[1], gps_baseline.uncertainty[2]);

    } catch (vn::sensors::sensor_error e) {
      RCLCPP_ERROR(get_logger(), "readGpsCompassBaseline: %s", e.what());
    }
    ...

I'd be happy to submit a PR against the ROS2 branch if interested. Thanks!