Novatel driver node is not activating automatically

[MishkaMN]

Summary

GPS output of platform is normally broadcasted on /localization/gnss_fix_fused topic. However, it was discovered that the carma_novatel_driver_wrapper_node that publishes it is not activated automatically on all vehicles. Therefore, current workaround was to add /hardware_interface/carma_novatel_driver_wrapper_node to localization/required_subsystem_nodes in carma-config's SubsystemControllerParams.yaml (Line Here on GitHub) should help configure/activate the /hardware_interface/carma_novatel_driver_wrapper_node node, which enables output on /gnss_fix_fused.

More robust solution or the reason why this happens need to be investigated

Version

4.5.0 (Current)

Expected Behavior

GPS is available at startup

Actual Behavior

See above

Steps to Reproduce the Actual Behavior

Download 4.5.0
carma start all
carma exec & source /opt/carma/install_ros2/setup.bash
ros2 topic info /localization/gnss_fix_fused -- verbose to see there is no publisher

Related Work

No response