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Hi,

as mentioned in the readme file of swiftnav_ros repo, you should use a different ROS driver: ethz_piksi_ros.

Moreover, this driver publishes a fixed (and specified by the user) covariance, based on in which mode Piksi is at the moment (SPP, RTK Float, RTK Fix). These settings can be set here: covariance settings

Regards,

Marco.

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