Add GPSBroadcaster

gps_sensor_broadcaster/CHANGELOG.rst

@@ -0,0 +1,219 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package gpio_controllers
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+4.20.0 (2025-01-29)
+-------------------
+
+4.19.0 (2025-01-13)
+-------------------
+
+4.18.0 (2024-12-19)
+-------------------
+
+4.17.0 (2024-12-07)
+-------------------
+
+4.16.0 (2024-11-08)
+-------------------
+
+4.15.0 (2024-10-07)
+-------------------
+
+4.14.0 (2024-09-11)
+-------------------
+
+4.13.0 (2024-08-22)
+-------------------
+
+4.12.1 (2024-08-14)
+-------------------
+
+4.12.0 (2024-07-23)
+-------------------
+
+4.11.0 (2024-07-09)
+-------------------
+
+4.10.0 (2024-07-01)
+-------------------
+
+4.9.0 (2024-06-05)
+------------------
+
+4.8.0 (2024-05-14)
+------------------
+
+4.7.0 (2024-03-22)
+------------------
+
+4.6.0 (2024-02-12)
+------------------
+
+4.5.0 (2024-01-31)
+------------------
+
+4.4.0 (2024-01-11)
+------------------
+
+4.3.0 (2024-01-08)
+------------------
+
+4.2.0 (2023-12-12)
+------------------
+
+4.1.0 (2023-12-01)
+------------------
+
+4.0.0 (2023-11-21)
+------------------
+
+3.17.0 (2023-10-31)
+-------------------
+
+3.16.0 (2023-09-20)
+-------------------
+
+3.15.0 (2023-09-11)
+-------------------
+
+3.14.0 (2023-08-16)
+-------------------
+
+3.13.0 (2023-08-04)
+-------------------
+
+3.12.0 (2023-07-18)
+-------------------
+
+3.11.0 (2023-06-24)
+-------------------
+
+3.10.1 (2023-06-06)
+-------------------
+
+3.10.0 (2023-06-04)
+-------------------
+
+3.9.0 (2023-05-28)
+------------------
+
+3.8.0 (2023-05-14)
+------------------
+
+3.7.0 (2023-05-02)
+------------------
+
+3.6.0 (2023-04-29)
+------------------
+
+3.5.0 (2023-04-14)
+------------------
+
+3.4.0 (2023-04-02)
+------------------
+
+3.3.0 (2023-03-07)
+------------------
+
+3.2.0 (2023-02-10)
+------------------
+
+3.1.0 (2023-01-26)
+------------------
+
+3.0.0 (2023-01-19)
+------------------
+
+2.15.0 (2022-12-06)
+-------------------
+
+2.14.0 (2022-11-18)
+-------------------
+
+2.13.0 (2022-10-05)
+-------------------
+
+2.12.0 (2022-09-01)
+-------------------
+
+2.11.0 (2022-08-04)
+-------------------
+
+2.10.0 (2022-08-01)
+-------------------
+
+2.9.0 (2022-07-14)
+------------------
+
+2.8.0 (2022-07-09)
+------------------
+
+2.7.0 (2022-07-03)
+------------------
+
+2.6.0 (2022-06-18)
+------------------
+
+2.5.0 (2022-05-13)
+------------------
+
+2.4.0 (2022-04-29)
+------------------
+
+2.3.0 (2022-04-21)
+------------------
+
+2.2.0 (2022-03-25)
+------------------
+
+2.1.0 (2022-02-23)
+------------------
+
+2.0.1 (2022-02-01)
+------------------
+
+2.0.0 (2022-01-28)
+------------------
+
+1.3.0 (2022-01-11)
+------------------
+
+1.2.0 (2021-12-29)
+------------------
+
+1.1.0 (2021-10-25)
+------------------
+
+1.0.0 (2021-09-29)
+------------------
+
+0.5.0 (2021-08-30)
+------------------
+
+0.4.1 (2021-07-08)
+------------------
+
+0.4.0 (2021-06-28)
+------------------
+
+0.3.1 (2021-05-23)
+------------------
+
+0.3.0 (2021-05-21)
+------------------
+
+0.2.1 (2021-05-03)
+------------------
+
+0.2.0 (2021-02-06)
+------------------
+
+0.1.2 (2021-01-07)
+------------------
+
+0.1.1 (2021-01-06)
+------------------
+
+0.1.0 (2020-12-23)
+------------------

gps_sensor_broadcaster/CMakeLists.txt

@@ -0,0 +1,101 @@
+cmake_minimum_required(VERSION 3.16)
+project(gps_sensor_broadcaster LANGUAGES CXX)
+
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                    -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
+                    -Werror=missing-braces)
+endif()
+
+# using this instead of visibility macros
+# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  controller_interface
+  generate_parameter_library
+  hardware_interface
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  realtime_tools
+  sensor_msgs
+)
+
+find_package(ament_cmake REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+
+generate_parameter_library(gps_sensor_broadcaster_parameters
+  src/gps_sensor_broadcaster_parameters.yaml
+)
+
+add_library(gps_sensor_broadcaster SHARED
+  src/gps_sensor_broadcaster.cpp
+)
+
+target_compile_features(gps_sensor_broadcaster PUBLIC cxx_std_17)
+target_include_directories(gps_sensor_broadcaster PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/gps_sensor_broadcaster>
+)
+
+target_link_libraries(gps_sensor_broadcaster PUBLIC gps_sensor_broadcaster_parameters)
+ament_target_dependencies(gps_sensor_broadcaster PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+
+pluginlib_export_plugin_description_file(
+  controller_interface gps_sensor_broadcaster.xml)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gmock REQUIRED)
+  find_package(controller_manager REQUIRED)
+  find_package(hardware_interface REQUIRED)
+  find_package(ros2_control_test_assets REQUIRED)
+
+  add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
+  ament_add_gmock(test_load_gps_sensor_broadcaster
+    test/test_load_gps_sensor_broadcaster.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/test/gps_sensor_broadcaster_params.yaml)
+  target_include_directories(test_load_gps_sensor_broadcaster PRIVATE include)
+  target_link_libraries(test_load_gps_sensor_broadcaster
+    gps_sensor_broadcaster
+  )
+  ament_target_dependencies(test_load_gps_sensor_broadcaster
+    controller_manager
+    hardware_interface
+    ros2_control_test_assets
+  )
+
+  ament_add_gmock(test_gps_sensor_broadcaster
+    test/test_gps_sensor_broadcaster.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/test/gps_sensor_broadcaster_params.yaml)
+  target_include_directories(test_gps_sensor_broadcaster PRIVATE include)
+  target_link_libraries(test_gps_sensor_broadcaster
+    gps_sensor_broadcaster
+  )
+  ament_target_dependencies(test_gps_sensor_broadcaster
+    hardware_interface
+    ros2_control_test_assets
+  )
+endif()
+
+install(
+  DIRECTORY include/
+  DESTINATION include/gps_sensor_broadcaster
+)
+install(
+  TARGETS
+    gps_sensor_broadcaster
+    gps_sensor_broadcaster_parameters
+  EXPORT export_gps_sensor_broadcaster
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  INCLUDES DESTINATION include
+)
+
+ament_export_targets(export_gps_sensor_broadcaster HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()

gps_sensor_broadcaster/README.md

@@ -0,0 +1,8 @@
+gps_sensor_broadcaster
+==========================================
+
+Controller to publish readings of GPS sensors.
+
+Pluginlib-Library: gps_sensor_broadcaster
+
+Plugin: gps_sensor_broadcaster/GPSSensorBroadcaster (controller_interface::ControllerInterface)

gps_sensor_broadcaster/doc/userdoc.rst

@@ -0,0 +1,27 @@
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/gps_sensor_broadcaster/doc/userdoc.rst
+
+.. _gps_sensor_broadcaster_userdoc:
+
+GPS Sensor Broadcaster
+--------------------------------
+Broadcaster of messages from GPS sensor.
+The published message type is ``sensor_msgs/msg/NavSatFix``.
+
+The controller is a wrapper around ``GPSSensor`` semantic component (see ``controller_interface`` package).
+
+Parameters
+^^^^^^^^^^^
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters. The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/gps_sensor_broadcaster/src/gps_sensor_broadcaster_params.yaml>`_ contains descriptions for all the parameters used by the controller.
+
+List of parameters
+=========================
+.. generate_parameter_library_details:: ../src/gps_sensor_broadcaster_parameters.yaml
+
+
+An example parameter file
+=========================
+
+An example parameter file for this controller can be found in `the test directory <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/gps_sensor_broadcaster/test/gps_sensor_broadcaster_params.yaml>`_:
+
+.. literalinclude:: ../test/gps_sensor_broadcaster_params.yaml
+   :language: yaml

gps_sensor_broadcaster/gps_sensor_broadcaster.xml

@@ -0,0 +1,8 @@
+<library path="gps_sensor_broadcaster">
+  <class name="gps_sensor_broadcaster/GPSSensorBroadcaster"
+         type="gps_sensor_broadcaster::GPSSensorBroadcaster" base_class_type="controller_interface::ControllerInterface">
+  <description>
+	  This controller publishes the readings of an GPS sensor as sensor_msgs/NavSatFix message.
+  </description>
+  </class>
+</library>