I have been struggling to get global localization working. I’m currently using the gpsd client code from your global localization sample to retrieve and format GNSSData, which all seems to be working fine, however when I get back to my main loop and it’s time to ingest the data, fusion.ingest_gnss_data(input_gnss) produces the error NOT ENABLE.
I missed the zed.start_publishing() in my code.