Add support for 9th gen ZED-series ADR/UDR products

[feuillatte]

• Add special logic to ublox_gps_node node.cpp product recognition for ZED-F9R/K/L product model ids to classify them as ADR/UDR products instead of High-Precision ground station related products (like the ZED-F9P). This solves the current problem of awkwardly combining ADR/UDR + HPGRov without the full functionality.

• Add ublox_msgs support for NavHPPOSLLH and NavHPPOSECEF

• Modify ublox_msg CMakeLists.txt to support both newer and older ROS2 message generator CMake helpers

• Extend ublox_gps ublox_node::AdrUdrProduct to:

  • support high-precision variants of NavPOSLLH and NavPOSECEF based on product identification
  • output sensor_msgs::msg::NavSatFIx for NavPOSLLH if high precision is supported according to the abovementioned logic
  • output diagnostic_msgs::msg::DiagnosticSTatus for sensor fusion diagnostics if EsfSTATUS is enabled
  • output sensor_msgs::msg::Temperature IMU temp messages if EsfRAW or EsfMEAS is enabled
  • output sensor_msgs::msg::Imu for EsfRAW data if EsfRAW is enabled
  • output sensor_msgs::msg::Imu with sensor fusion orientation if NavATT is enabled
  • output sensor_msgs::msg::Imu with sensor fusion kinematics if EsfINS is enabled

• Remove dead code relating to time reference information in ublox_gps ublox_node::AdrUdrProduct

• Resolve "zed-f9r" heading accuracy issue #234

• Resolve How to obtain ZED-F9R ROS driver output RAW IMU data? #171

• Resolve Issues publishing ZED-F9R IMU Messages #149

• Resolve ZED-F9R #144

• Resolve F9K Data acquisition #133

• Resolve Can i get the raw imu date from f9k? #102

[jagruth-medavarapu]

@feuillatte Hi, I am working with ZED-F9R and I found combining ADR/UDR + HPGRov would not give the full functionalities too. Is the driver working properly after your modifications? Please let me know. It would be really helpful.

[feuillatte]

@jagruth-medavarapu I have tested this with a ZED-F9R, and created this due to the same problem you faced. The driver is serving my needs since some 2.5 years, but if you can verify on your end that it also addresses all your needs, that would be helpful.