Update Galactic branch with Gitlab files

CONTRIBUTING.md

@@ -32,7 +32,7 @@ The following VS Code `tasks.json` file was used:
         {
             "type": "shell",
             "label": "colcon build",
-            "args":["source /opt/ros/foxy/setup.bash  && cd ~/code/ros2_ws/ && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Debug && . install/setup.bash"],
+            "args":["source /opt/ros/galactic/setup.bash  && cd ~/code/ros2_ws/ && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Debug && . install/setup.bash"],
         },
     ]
 }
@@ -60,7 +60,7 @@ This project is split into numerous modules, each in their own directory:
 A list of ROS topics published by this driver can be found in [the README](./README.md).
 
 ### Releases
-* Release versions of this driver reside in branches corresponding to the distribution of ROS they are designed for use with, e.g. `foxy` or `eloquent`.
+* Release versions of this driver reside in branches corresponding to the distribution of ROS they are designed for use with, e.g. `galactic` or `eloquent`.
 * Branches which are under development, and in the progress of updating the code for use with a new distribution of ROS, are suffixed with `-devel`, e.g. `galactic-devel`.
 * The `master` branch contains a release for the latest distribution of ROS.
 * The ROS driver uses [semantic versioning](https://semver.org/) for its version number.
@@ -112,7 +112,7 @@ Building the test program requires something like:
 
 ```bash
 # In the root directory of the compiled package, e.g. ~/ros_ws/
-. /opt/ros/foxy/setup.bash
+. /opt/ros/galactic/setup.bash
 . install/setup.sh
 colcon build
 ```
@@ -131,9 +131,9 @@ This driver uses the `Boost.Test` framework for its unit tests. Each file in the
 Documentation on this unit testing framework, including an API reference and user's guide, can be found [here](https://www.boost.org/doc/libs/1_77_0/libs/test/doc/html/index.html).
 
 ## Learning ROS 2
-See the following short tutorials for a quality introduction to package development for ROS 2 (Foxy Fitzroy):
+See the following short tutorials for a quality introduction to package development for ROS 2 (Galactic Geochelone):
 
-- [Installation](https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Install-Debians/).
+- [Installation](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html).
 - [Create a workspace](https://index.ros.org/doc/ros2/Tutorials/Workspace/Creating-A-Workspace/).
 - [Create your first package](https://index.ros.org/doc/ros2/Tutorials/Creating-Your-First-ROS2-Package/).
 - [Create a simple publisher/subscriber pair](https://index.ros.org/doc/ros2/Tutorials/Writing-A-Simple-Cpp-Publisher-And-Subscriber/#cpppubsub).

README.md

@@ -1,14 +1,16 @@
 # ROS2 Driver
 
+[![Pipeline_Status](https://gitlab.com/oxts/navigation/ros/oxts/badges/Galactic/pipeline.svg)](https://gitlab.com/oxts/navigation/ros/oxts/-/commits/Galactic)
+
 A ROS2 driver which allows an OxTS INS to interact with a wider ROS network. Where ROS is mentioned in this document, this is in reference to ROS2. References to ROS1 will be explicit.
 
-The ROS driver has been built with ROS release Foxy Fitzroy.
+The ROS driver has been built with ROS release Galactic Geochelone.
 
 ## Build from source
 
 Dependencies:
 
-- ROS2 (Foxy Fitzroy). (See [here](https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Install-Debians/) for an installation guide.)
+- ROS2 (Galactic Geochelone). (See [here](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html) for an installation guide.)
 
 ```bash
 sudo apt install doxygen
@@ -18,7 +20,7 @@ pip3 install sphinx breathe sphinx_rtd_theme
 To build the driver:
 
 ```bash
-. /opt/ros/foxy/setup.bash # "." and "source" are interchangeable (unix)
+. /opt/ros/galactic/setup.bash # "." and "source" are interchangeable (unix)
 mkdir -p ros_ws/src
 cd ros_ws/src
 git clone https://github.com/OxfordTechnicalSolutions/oxts_ros2_driver
@@ -55,6 +57,14 @@ The currently available launch files are as follows:
 * `visualise.py` - Launches the driver, as well as `robot_state_publisher` and `rviz2` (the latter can be disabled with `use_rviz:=False`)
 * `run.py` - Only launches the driver, without `robot_state_publisher` and no `use_rviz` option
 
+You can also override options from the configuration file at the command-line, e.g.:
+
+```bash
+ros2 launch oxts run.py topic_prefix:=myprefix
+```
+
+**Be aware that currently, this only works for some options.**
+
 ## Getting started
 For a basic tutorial on using this driver, see the ["getting started" guide](./Getting%20Started.md).
 
@@ -87,7 +97,7 @@ The publisher node included in this driver opens a socket to receive NCOM messag
 * **ins/velocity** [geometry_msgs/msg/TwistStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/TwistStamped.html)
     Velocity of the INS, in the INS frame. (Linear velocity corresponds to measurements `IsoVoX`, `IsoVoY` and `IsoVoZ`, while angular velocity is `Wx`, `Wy` and `Wz`.)
 
-* **ins/odometry** [nav_msgs/msg/Odometry](https://github.com/ros2/common_interfaces/blob/foxy/nav_msgs/msg/Odometry.msg)
+* **ins/odometry** [nav_msgs/msg/Odometry](https://github.com/ros2/common_interfaces/blob/galactic/nav_msgs/msg/Odometry.msg)
     Odometry data from the INS.
     - Position: In a local reference frame which, depending on your configuration, is defined either by:
         - The LRF in NCom (`RefLat`, `RefLon`, `RefAlt` and `RefHeading`).
@@ -97,7 +107,7 @@ The publisher node included in this driver opens a socket to receive NCOM messag
     - Linear Velocity: In the above reference frame, computed from `IsoVoX`, `IsoVoY` and `IsoVoZ`. (Does not yet have variances.)
     - Angular Velocity: In the above reference frame, computed from `Wx`, `Wy` and `Wz`. (Does not yet have variances.)
 
-* **ins/path** [nav_msgs/msg/Path](https://github.com/ros2/common_interfaces/blob/foxy/nav_msgs/msg/Path.msg)
+* **ins/path** [nav_msgs/msg/Path](https://github.com/ros2/common_interfaces/blob/galactic/nav_msgs/msg/Path.msg)
     Path taken by the INS, this path contains all historical positions and orientations from the **ins/odometry** topic.
 
 * **ins/time_reference** [sensor_msgs/msg/TimeReference](http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/TimeReference.html)

oxts/launch/run.py

@@ -21,18 +21,30 @@ def generate_launch_description():
     driver_param_path = os.path.join(driver_dir, "config", parameters_file_name)
     with open(driver_param_path, "r") as f:
         driver_params = yaml.safe_load(f)["oxts_driver"]["ros__parameters"]
-    yaml_ncom = driver_params.pop("ncom", "")
+    yaml_ncom = driver_params.pop("ncom", '""')
     yaml_prefix = driver_params.pop("topic_prefix", "ins")
-
+    yaml_ip = driver_params.pop("unit_ip","0.0.0.0")
+    yaml_port = driver_params.pop("unit_port",3000)
+    yaml_rate = driver_params.pop("ncom_rate",100)
+    yaml_mode = driver_params.pop("timestamp_mode",0)
+
     ins_param_path = os.path.join(ins_dir, "config", parameters_file_name)
     with open(ins_param_path, "r") as f:
         ins_params = yaml.safe_load(f)["oxts_ins"]["ros__parameters"]
-
+    yaml_frameid = ins_params.pop("frame_id","oxts_link")
+    yaml_lrf = ins_params.pop("lrf_source",2)
+
     use_sim_time = LaunchConfiguration("use_sim_time", default="False")
     wait_for_init = LaunchConfiguration("wait_for_init", default="True")
     ncom = LaunchConfiguration("ncom", default=yaml_ncom)
     topic_prefix = LaunchConfiguration("topic_prefix", default=yaml_prefix)
-
+    unit_ip = LaunchConfiguration("unit_ip",default=yaml_ip)
+    unit_port = LaunchConfiguration("unit_port",default=yaml_port)
+    ncom_rate = LaunchConfiguration("ncom_rate",default=yaml_rate)
+    timestamp_mode = LaunchConfiguration("timestamp_mode",default=yaml_timestamp)
+
+    frame_id = LaunchConfiguration("frame_id",default=yaml_frameid)
+    lrf_source = LaunchConfiguration("lrf_source",default=yaml_lrf)
     # declare launch arguments (this exposes the argument
     # to IncludeLaunchDescriptionand to the command line)
     declare_use_sim_time = DeclareLaunchArgument("use_sim_time", default_value="False")
@@ -47,7 +59,24 @@ def generate_launch_description():
     declare_prefix = DeclareLaunchArgument(
         "topic_prefix", default_value=yaml_prefix, description="Prefix to apply to all topics"
     )
-
+    declare_ip = DeclareLaunchArgument(
+        "unit_ip", default_value=yaml_ip, description="Unit IP to connect to"
+    )
+    declare_port = DeclareLaunchArgument(
+        "unit_port", default_value=str(yaml_port), description="Unit Port to connect to"
+    )
+    declare_rate = DeclareLaunchArgument(
+        "ncom_rate", default_value=str(yaml_rate), description="Set ncom rate /Hz"
+    )
+    declare_mode = DeclareLaunchArgument(
+        "timestamp_mode", default_value=str(yaml_timestamp), description="Set timestamp mode"
+    )
+    declare_frameid = DeclareLaunchArgument(
+        "frame_id", default_value=yaml_frameid, description="Set id of frame"
+    )
+    declare_lrf = DeclareLaunchArgument(
+        "lrf_source", default_value=str(yaml_lrf), description="Set the lrf source"
+    )
     oxts_driver_node = Node(
         package="oxts_driver",
         executable="oxts_driver",
@@ -59,6 +88,10 @@ def generate_launch_description():
             {"wait_for_init": wait_for_init},
             {"topic_prefix": topic_prefix},
             {"ncom": ncom},
+            {"unit_ip": unit_ip},
+            {"unit_port": unit_port},
+            {"ncom_rate": ncom_rate},
+            {"timestamp_mode": timestamp_mode},
         ],
     )
 
@@ -71,6 +104,8 @@ def generate_launch_description():
             ins_params,
             {"use_sim_time": use_sim_time},
             {"topic_prefix": topic_prefix},
+            {"frame_id": frame_id},
+            {"lrf_source": lrf_source},
         ],
     )
 
@@ -81,6 +116,12 @@ def generate_launch_description():
     ld.add_action(declare_prefix)
     ld.add_action(declare_use_sim_time)
     ld.add_action(declare_wait_for_init)
+    ld.add_action(declare_ip)
+    ld.add_action(declare_port)
+    ld.add_action(declare_rate)
+    ld.add_action(declare_mode)
+    ld.add_action(declare_frameid)
+    ld.add_action(declare_lrf)
     # launch nodes
     ld.add_action(oxts_driver_node)
     ld.add_action(oxts_ins_node)

oxts/package.xml

@@ -6,10 +6,10 @@
     <description>
         ROS support for the OxTS RT/xNAV INS systems.
     </description>
-    <maintainer email="support@oxts.com">oxts</maintainer>
-    <author>oxts</author>
+    <maintainer email="smccarthy@oxts.com">smccarthy</maintainer>
+    <author>Someone else maybe</author>
     <license>Apache 2.0</license>
-    <url type="website">http://www.oxts.com</url>
+    <url type="website">http://www.ros.org/wiki/velodyne</url>
     <url type="repository">https://github.com/OxfordTechnicalSolutions/oxts_ros2_driver</url>
     <url type="bugtracker">https://github.com/OxfordTechnicalSolutions/oxts_ros2_driver/issues</url> -->
 

oxts_driver/CMakeLists.txt

@@ -38,12 +38,12 @@ ament_target_dependencies(oxts_driver
                           tf2
                           tf2_kdl
                           oxts_msgs)
+
 target_include_directories(oxts_driver PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   PRIVATE ${Boost_INCLUDE_DIRS}
   $<INSTALL_INTERFACE:include>)
 
-
 install(TARGETS oxts_driver
         DESTINATION lib/${PROJECT_NAME})
 

oxts_driver/package.xml

@@ -4,7 +4,7 @@
   <name>oxts_driver</name>
   <version>0.0.0</version>
   <description>A ROS2 Driver to allow an OxTS INS to interact with a wider ROS network.</description>
-  <maintainer email="support@oxts.com">oxts</maintainer>
+  <maintainer email="smccarthy@oxts.com">smccarthy</maintainer>
   <license>Apache 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

oxts_ins/package.xml

@@ -4,7 +4,7 @@
   <name>oxts_ins</name>
   <version>0.0.0</version>
   <description>A ROS2 node that takes NCom messages from the driver node and publishes INS messages.</description>
-  <maintainer email="support@oxts.com">oxts</maintainer>
+  <maintainer email="smccarthy@oxts.com">smccarthy</maintainer>
   <license>Apache 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

oxts_msgs/package.xml

@@ -4,7 +4,7 @@
   <name>oxts_msgs</name>
   <version>0.0.0</version>
   <description>ROS2 message definitions for OxTS INSs.</description>
-  <maintainer email="support@oxts.com">oxts</maintainer>
+  <maintainer email="smccarthy@oxts.com">smccarthy</maintainer>
   <license>Apache 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

tests/CMakeLists.txt

@@ -12,7 +12,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(Boost REQUIRED COMPONENTS unit_test_framework)
+set(FastRTPS_INCLUDE_DIR /opt/ros/foxy/include) 
+set(FastRTPS_LIBRARY_RELEASE /opt/ros/foxy/lib/libfastrtps.so)
+
+find_package(Boost REQUIRED COMPONENTS unit_test_framework system thread regex)
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
@@ -24,6 +27,8 @@ find_package(tf2_ros REQUIRED)
 find_package(tf2_kdl REQUIRED)
 find_package(oxts_msgs REQUIRED)
 
+message(STATUS "current source dir: ${CMAKE_CURRENT_SOURCE_DIR}")
+
 add_executable(tests
                tests.cpp
                oxts_driver.cpp
@@ -47,13 +52,21 @@ ament_target_dependencies(tests
         tf2_kdl
         oxts_msgs)
 
+add_custom_command(
+        TARGET tests POST_BUILD
+        COMMAND ${CMAKE_COMMAND} -E copy
+                ${CMAKE_SOURCE_DIR}/test.ncom
+                ${CMAKE_CURRENT_BINARY_DIR}/test.ncom)
+
+message(STATUS "include dirs: ${Boost_INCLUDE_DIRS}")
+
 target_include_directories(tests PUBLIC
         ../oxts_driver/include
         ../oxts_ins/include
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
         PRIVATE ${Boost_INCLUDE_DIRS}
         $<INSTALL_INTERFACE:include>)
-target_link_libraries (tests ${Boost_LIBRARIES})
 
-install(TARGETS tests
-        DESTINATION lib/${PROJECT_NAME})
+target_link_libraries (tests 
+        ${Boost_LIBRARIES}
+        ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})

tests/package.xml

@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>tests</name>
+  <version>0.0.0</version>
+  <description>A ROS2 node that runs unit tests.</description>
+  <maintainer email="[email protected]">smccarthy</maintainer>
+  <license>Apache 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
+  <depend>tf2_kdl</depend>
+  <depend>oxts_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

tests/tests.cpp

@@ -16,6 +16,7 @@
 
 #include <boost/test/unit_test.hpp>
 #include <memory>
+#include <filesystem>
 
 #include "oxts_driver/driver.hpp"
 #include "tests.h"
@@ -25,7 +26,7 @@ namespace tests {
 std::unique_ptr<oxts_driver::OxtsDriver> newDriver() {
   rclcpp::NodeOptions options;
   options.append_parameter_override(
-      "ncom", std::filesystem::path{__FILE__}.replace_filename("test.ncom"));
+      "ncom", std::filesystem::canonical(std::filesystem::path{"./test.ncom"}));
   options.append_parameter_override("ncom_rate", 250);
   return std::make_unique<oxts_driver::OxtsDriver>(options);
 }