From 0043687a08daacb02c00e562cbe9c1f1c5a2da93 Mon Sep 17 00:00:00 2001
From: Muvahhid Kilic <muvahhidkilic@gmail.com>
Date: Wed, 11 Mar 2026 14:34:46 +0300
Subject: [PATCH] fix: raw_data_stream uses wrong is_ros_subscriber flag
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When raw_data_stream.enable is true, RawDataStreamPa is constructed
with is_ros_subscriber=true, which puts it in subscriber mode.
In subscriber mode:
- getRosParams() reads 'dir' instead of 'raw_data_stream.dir'
- isEnabled() only returns !file_dir_.empty(), ignoring 'publish' flag
- setRawDataCallback() is never called → no data flows

Fix: pass false as is_ros_subscriber since the GPS node is a producer,
not a subscriber of the raw data stream.
---
 ublox_gps/src/node.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/ublox_gps/src/node.cpp b/ublox_gps/src/node.cpp
index 39c14821..74d9d509 100644
--- a/ublox_gps/src/node.cpp
+++ b/ublox_gps/src/node.cpp
@@ -383,8 +383,7 @@ void UbloxNode::getRosParams() {
   // raw data stream logging
   this->declare_parameter("raw_data_stream.enable", false);
   if (getRosBoolean(this, "raw_data_stream.enable")) {
-    raw_data_stream_pa_ = std::make_shared<ublox_node::RawDataStreamPa>(
-      getRosBoolean(this, "raw_data_stream.enable"));
+    raw_data_stream_pa_ = std::make_shared<ublox_node::RawDataStreamPa>(false);
     raw_data_stream_pa_->getRosParams();
   }