Merge develop-ros2 into main-ros2

rsasaki0109 · web-flow · commit 1095620eb86f · 2026-03-27T02:01:50.000+09:00
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -16,7 +16,7 @@ jobs:
 
     steps:
       - name: checkout
-        uses: actions/checkout@v1
+        uses: actions/checkout@v4
       - name: rosdep update
         run: |
           apt-get update
@@ -41,4 +41,45 @@ jobs:
           cd ~/eagleye/
           source /opt/ros/humble/setup.bash
           rosdep install --from-paths src --ignore-src -r -y
-          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-skip-building-tests
+          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-skip-building-tests
+
+  jazzy_build:
+    runs-on: ubuntu-24.04
+
+    container: ros:jazzy
+    services:
+      ros:
+        image: ros
+
+    defaults:
+      run:
+        shell: bash
+
+    steps:
+      - name: checkout
+        uses: actions/checkout@v4
+      - name: rosdep update
+        run: |
+          apt-get update
+          rosdep update
+      - name: Create Workspace
+        run: |
+          mkdir -p ~/eagleye/src/
+          cp -r "$(pwd)" ~/eagleye/src/
+      - name: Clone rtklib_msgs
+        run: |
+          cd ~/eagleye/src/
+          git clone https://github.com/MapIV/rtklib_ros_bridge.git -b ros2-v0.1.0
+      - name: Clone llh_converter
+        run: |
+          cd ~/eagleye/src/
+          git clone https://github.com/MapIV/llh_converter.git -b ros2
+      - name: Install GeographicLib
+        run: |
+          apt-get install -y libgeographiclib-dev geographiclib-tools geographiclib-doc
+      - name: Build
+        run: |
+          cd ~/eagleye/
+          source /opt/ros/jazzy/setup.bash
+          rosdep install --from-paths src --ignore-src -r -y
+          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-skip-building-tests
diff --git a/README.md b/README.md
@@ -40,18 +40,15 @@ Clone and Build MapIV's fork of [RTKLIB](https://github.com/MapIV/rtklib_ros_bri
 	cd $HOME/RTKLIB/lib/iers/gcc/
 	make
 	cd $HOME/RTKLIB/app/consapp
-	make 
+	make
 
 ### ROS Packages
 
 Clone and build the necessary packages for Eagleye. ([rtklib_ros_bridge](https://github.com/MapIV/rtklib_ros_bridge/tree/ros2-v0.1.0), [nmea_ros_bridge](https://github.com/MapIV/nmea_ros_bridge/tree/ros2-v0.1.0))
 
 	cd $HOME/catkin_ws/src
-	git clone https://github.com/MapIV/eagleye.git -b main-ros2 --recursive
-	git clone https://github.com/MapIV/rtklib_ros_bridge.git -b ros2-v0.1.0
-	git clone https://github.com/MapIV/llh_converter.git -b ros2
-	git clone https://github.com/MapIV/nmea_ros_bridge.git -b ros2-v0.1.0
-	git clone https://github.com/MapIV/gnss_compass_ros.git -b main-ros2
+	git clone https://github.com/MapIV/eagleye.git -b main-ros2
+	vcs import . < eagleye/eagleye.repos
 	sudo apt-get install -y libgeographic-dev geographiclib-tools geographiclib-doc
 	sudo geographiclib-get-geoids best
 	sudo mkdir /usr/share/GSIGEO
diff --git a/eagleye.repos b/eagleye.repos
@@ -0,0 +1,17 @@
+repositories:
+  rtklib_ros_bridge:
+    type: git
+    url: https://github.com/MapIV/rtklib_ros_bridge.git
+    version: ros2-v0.1.0
+  llh_converter:
+    type: git
+    url: https://github.com/MapIV/llh_converter.git
+    version: ros2
+  nmea_ros_bridge:
+    type: git
+    url: https://github.com/MapIV/nmea_ros_bridge.git
+    version: ros2-v0.1.0
+  gnss_compass_ros:
+    type: git
+    url: https://github.com/MapIV/gnss_compass_ros.git
+    version: main-ros2
diff --git a/eagleye_core/coordinate/CMakeLists.txt b/eagleye_core/coordinate/CMakeLists.txt
@@ -15,17 +15,17 @@ ament_auto_find_build_dependencies()
 
 find_package(PkgConfig)
 find_package(geodesy)
+
+# GeographicLib
 find_path(GeographicLib_INCLUDE_DIR GeographicLib/Config.h
   PATH_SUFFIXES GeographicLib
 )
-set(GeographicLib_LIBRARIES
-  NAMES Geographic
-)
+find_library(GeographicLib_LIBRARIES NAMES Geographic GeographicLib)
 
 include_directories(
   include
   ${PROJECT_SOURCE_DIR}/include
-  ${GeographicLib_INCLUDE_DIRS}
+  ${GeographicLib_INCLUDE_DIR}
 )
 link_directories(
   /usr/local/lib
@@ -47,11 +47,11 @@ ament_auto_add_library(eagleye_coordinate SHARED
   include/eagleye_coordinate/eagleye_coordinate.hpp
 )
 
-ament_export_include_directories(include)
+ament_export_include_directories(include ${GeographicLib_INCLUDE_DIR})
 ament_target_dependencies(eagleye_coordinate)
 
 target_link_libraries(eagleye_coordinate
-  Geographic
+  ${GeographicLib_LIBRARIES}
 )
 
 install(
@@ -62,6 +62,7 @@ install(
 
 target_include_directories(eagleye_coordinate
   PUBLIC
+    ${GeographicLib_INCLUDE_DIR}
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>
 )
@@ -86,4 +87,4 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_auto_package()
+ament_auto_package()
diff --git a/eagleye_core/coordinate/package.xml b/eagleye_core/coordinate/package.xml
@@ -13,6 +13,7 @@
   <build_depend>geodesy</build_depend>
   <build_export_depend>rclcpp</build_export_depend>
   <build_export_depend>geodesy</build_export_depend>
+  <depend>ament_index_cpp</depend>
   <depend>eigen</depend>
   <depend>geographic_info</depend>
   <depend>geographic_msgs</depend>
diff --git a/eagleye_core/navigation/CMakeLists.txt b/eagleye_core/navigation/CMakeLists.txt
@@ -23,6 +23,7 @@ endif()
 find_package(ament_cmake_auto REQUIRED)
 find_package(eagleye_coordinate REQUIRED)
 find_package(PkgConfig REQUIRED)
+find_package(yaml-cpp REQUIRED)
 
 ament_auto_find_build_dependencies()
 
@@ -51,7 +52,7 @@ ament_auto_add_library(eagleye_navigation SHARED
   include/eagleye_navigation/eagleye_navigation.hpp
 )
 
-ament_auto_find_build_dependencies()
+target_link_libraries(eagleye_navigation yaml-cpp)
 
 install(TARGETS eagleye_navigation
   INCLUDES DESTINATION include
diff --git a/eagleye_rt/CMakeLists.txt b/eagleye_rt/CMakeLists.txt
@@ -41,14 +41,23 @@ ament_auto_add_executable(distance
 ament_auto_add_executable(heading_interpolate
   src/heading_interpolate_node.cpp
 )
+target_link_libraries(heading_interpolate
+  yaml-cpp
+)
 
 ament_auto_add_executable(heading
   src/heading_node.cpp
 )
+target_link_libraries(heading
+  yaml-cpp
+)
 
 ament_auto_add_executable(height
   src/height_node.cpp
 )
+target_link_libraries(height
+  yaml-cpp
+)
 
 ament_auto_add_executable(monitor
   src/monitor_node.cpp
@@ -57,62 +66,107 @@ ament_auto_add_executable(monitor
 ament_auto_add_executable(position_interpolate
   src/position_interpolate_node.cpp
 )
+target_link_libraries(position_interpolate
+  yaml-cpp
+)
 
 ament_auto_add_executable(position
   src/position_node.cpp
 )
+target_link_libraries(position
+  yaml-cpp
+)
 
 ament_auto_add_executable(slip_angle
   src/slip_angle_node.cpp
 )
+target_link_libraries(slip_angle
+  yaml-cpp
+)
 
 ament_auto_add_executable(slip_coefficient
   src/slip_coefficient_node.cpp
 )
+target_link_libraries(slip_coefficient
+  yaml-cpp
+)
 
 ament_auto_add_executable(enable_additional_rolling
   src/enable_additional_rolling_node.cpp
 )
+target_link_libraries(enable_additional_rolling
+  yaml-cpp
+)
 
 ament_auto_add_executable(rolling
   src/rolling_node.cpp
 )
+target_link_libraries(rolling
+  yaml-cpp
+)
 
 ament_auto_add_executable(smoothing
   src/smoothing_node.cpp
 )
+target_link_libraries(smoothing
+  yaml-cpp
+)
 
 ament_auto_add_executable(trajectory
   src/trajectory_node.cpp
 )
+target_link_libraries(trajectory
+  yaml-cpp
+)
 
 ament_auto_add_executable(velocity_scale_factor
   src/velocity_scale_factor_node.cpp
 )
+target_link_libraries(velocity_scale_factor
+  yaml-cpp
+)
 
 ament_auto_add_executable(yaw_rate_offset
   src/yaw_rate_offset_node.cpp
 )
+target_link_libraries(yaw_rate_offset
+  yaml-cpp
+)
 
 ament_auto_add_executable(yaw_rate_offset_stop
   src/yaw_rate_offset_stop_node.cpp
 )
+target_link_libraries(yaw_rate_offset_stop
+  yaml-cpp
+)
 
 ament_auto_add_executable(angular_velocity_offset_stop
   src/angular_velocity_offset_stop_node.cpp
 )
+target_link_libraries(angular_velocity_offset_stop
+  yaml-cpp
+)
 
 ament_auto_add_executable(rtk_dead_reckoning
   src/rtk_dead_reckoning_node.cpp
 )
+target_link_libraries(rtk_dead_reckoning
+  yaml-cpp
+)
 
 ament_auto_add_executable(rtk_heading
   src/rtk_heading_node.cpp
 )
+target_link_libraries(rtk_heading
+  yaml-cpp
+)
 
 ament_auto_add_executable(velocity_estimator
   src/velocity_estimator_node.cpp
 )
+target_link_libraries(velocity_estimator
+  yaml-cpp
+)
 
 install(TARGETS 
   tf_converted_imu
diff --git a/eagleye_rt/config/README.md b/eagleye_rt/config/README.md
@@ -17,7 +17,7 @@ The parameters for estimation in Eagleye can be set in the `config/eagleye_confi
 | imu_topic                     | string | Topic name to be subscribed to in node (sensor_msgs/Imu.msg)            | /imu/data_raw            |
 | twist.twist_type                   | int | Topic type to be subscribed to in node (TwistStamped : 0, TwistWithCovarianceStamped: 1) | 0               |
 | twist.twist_topic                   | string | Topic name to be subscribed to in node | /can_twist               |
-| gnss.velocity_source_type              | int | Topic type to be subscribed to in node (rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3)      | 0        |
+| gnss.velocity_source_type              | int | Topic type to be subscribed to in node (rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3, septentrio_gnss_driver/PVTGeodetic: 4)      | 0        |
 | gnss.velocity_source_topic              | string | Topic name to be subscribed to in node      | /rtklib_nav        |
 | gnss.llh_source_type              | int | Topic type to be subscribed to in node (rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2)      | 0        |
 | gnss.llh_source_topic              | string | Topic name to be subscribed to in node   | /rtklib_nav        |
diff --git a/eagleye_rt/config/eagleye_config.yaml b/eagleye_rt/config/eagleye_config.yaml
@@ -10,7 +10,7 @@
       twist_topic: /can_twist
     imu_topic: /imu/data_raw
     gnss:
-      velocity_source_type: 0 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3
+      velocity_source_type: 0 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3, septentrio_gnss_driver/PVTGeodetic: 4
       velocity_source_topic: /rtklib_nav
       llh_source_type: 0 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2
       llh_source_topic:  /rtklib_nav
diff --git a/eagleye_rt/package.xml b/eagleye_rt/package.xml
@@ -23,6 +23,7 @@
   <depend>eagleye_msgs</depend>
   <depend>eagleye_coordinate</depend>
   <depend>eagleye_navigation</depend>
+  <depend>eagleye_tf</depend>
   <depend>diagnostic_updater</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
diff --git a/eagleye_rt/src/tf_converted_imu.cpp b/eagleye_rt/src/tf_converted_imu.cpp
diff --git a/eagleye_util/geo_pose_fusion/package.xml b/eagleye_util/geo_pose_fusion/package.xml
diff --git a/eagleye_util/gnss_converter/CMakeLists.txt b/eagleye_util/gnss_converter/CMakeLists.txt
diff --git a/eagleye_util/gnss_converter/package.xml b/eagleye_util/gnss_converter/package.xml
diff --git a/eagleye_util/gnss_converter/src/gnss_converter_node.cpp b/eagleye_util/gnss_converter/src/gnss_converter_node.cpp
