devkit_driver.relposned_heading_shim
relposned_heading_shim.py ───────────────────────── Converts ublox_dgnss NAV-RELPOSNED → sensor_msgs/Imu for FusionCore. Subscribes : /rover/ubx_nav_rel_pos_ned (ublox_ubx_msgs/UBXNavRelPosNED) Publishes : /gnss/heading (sensor_msgs/Imu) FusionCore subscribes to gnss.heading_topic as sensor_msgs/Imu, extracting yaw from the orientation quaternion. orientation_covariance[8] carries σ² of the yaw estimate. All other fields (linear_acceleration, angular_velocity, their covariances, roll, pitch) are left zero — this message carries heading only. Only publishes when rel_pos_valid AND rel_pos_heading_valid are both set, and the antenna baseline passes the minimum length check. NAV-RELPOSNED heading is True North referenced, degrees × 1e-5. ROS convention: ENU yaw. NED → ENU: yaw_ENU = π/2 - heading_NED_rad
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