Merge pull request #47 from thomasemter/dev/refactor

Dev/refactor

CMakeLists.txt

@@ -27,7 +27,7 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 ## System dependencies are found with CMake's conventions
-find_package(Boost REQUIRED COMPONENTS system thread regex)
+find_package(Boost REQUIRED) # bug with 1.71: spirit is not found ... COMPONENTS system thread regex spirit)
 LIST(APPEND CMAKE_MODULE_PATH "/usr/share/cmake/geographiclib")
 find_package(GeographicLib REQUIRED)
 
@@ -72,19 +72,21 @@ endif ()
 add_message_files(
    FILES
    BlockHeader.msg
+   MeasEpoch.msg
+   MeasEpochChannelType1.msg
+   MeasEpochChannelType2.msg
    PVTCartesian.msg
    PVTGeodetic.msg
    PosCovCartesian.msg
    PosCovGeodetic.msg
+   VelCovCartesian.msg
    VelCovGeodetic.msg
    AttEuler.msg
    AttCovEuler.msg
    INSNavCart.msg
    INSNavGeod.msg
    IMUSetup.msg
    VelSensorSetup.msg
-   ExtEventINSNavGeod.msg
-   ExtEventINSNavCart.msg
    ExtSensorMeas.msg
 )
 

README.md

@@ -58,8 +58,7 @@ Conversions from LLA to UTM are incorporated through [GeographicLib](https://geo
 <summary>Notes Before Usage</summary>
 
   + In your bash sessions, navigating to the ROSaic package can be achieved from anywhere with no more effort than `roscd septentrio_gnss_driver`. 
-  + The driver assumes that our anonymous access to the Rx grants us full control rights. This should be the case by default, and can otherwise be changed with the `setDefaultAccessLevel` command. 
-  + Currently, the driver only works on systems that are little-endian. Most modern computers, including PCs, are little-endian.
+  + The driver assumes that our anonymous access to the Rx grants us full control rights. This should be the case by default, and can otherwise be changed with the `setDefaultAccessLevel` command.
   + The development process of this driver has been performed with mosaic-x5, firmware (FW) revision number 2, and AsteRx-SBi3 Pro, FW revision number 1. If a more up-to-date FW (higher revision number) is uploaded to the mosaic, the driver will not be able to take account of new or updated SBF fields. 
   + ROSaic only works from C++11 onwards due to std::to_string() etc.
   + Once the catkin build or binary installation is finished, adapt the `config/rover.yaml` file according to your needs. The `launch/rover.launch` need not be modified. Specify the communication parameters, the ROS messages to be published, the frequency at which the latter should happen etc.:<br>
@@ -140,6 +139,7 @@ Conversions from LLA to UTM are incorporated through [GeographicLib](https://geo
     gpgga: false
     gprmc: false
     gpst : false
+    measepoch: false
     pvtcartesian: false
     pvtgeodetic: true
     poscovcartesian: false
@@ -406,6 +406,7 @@ The following is a list of ROSaic parameters found in the `config/rover.yaml` fi
     + `publish/gprmc`: `true` to publish `nmea_msgs/GPRMC.msg` messages into the topic `/gprmc`
     + `publish/gpgsa`: `true` to publish `nmea_msgs/GPGSA.msg` messages into the topic `/gpgsa`
     + `publish/gpgsv`: `true` to publish `nmea_msgs/GPGSV.msg` messages into the topic `/gpgsv`
+    + `publish/measepoch`: `true` to publish `septentrio_gnss_driver/MeasEpoch.msg` messages into the topic `/measepoch`
     + `publish/pvtcartesian`: `true` to publish `septentrio_gnss_driver/PVTCartesian.msg` messages into the topic `/pvtcartesian`
     + `publish/pvtgeodetic`: `true` to publish `septentrio_gnss_driver/PVTGeodetic.msg` messages into the topic `/pvtgeodetic`
     + `publish/poscovcartesian`: `true` to publish `septentrio_gnss_driver/PosCovCartesian.msg` messages into the topic `/poscovcartesian`
@@ -458,8 +459,8 @@ A selection of NMEA sentences, the majority being standardized sentences, and pr
   + `/extsensormeas`: publishes custom ROS message `septentrio_gnss_driver/ExtSensorMeas.msg`, corresponding to SBF block `ExtSensorMeas` 
   + `/imusetup`: publishes custom ROS message `septentrio_gnss_driver/IMUSetup.msg`, corresponding to SBF block `IMUSetup` 
   + `/velsensorsetup`: publishes custom ROS message `septentrio_gnss_driver/VelSensorSetup.msg` corresponding to SBF block `VelSensorSetup` 
-  + `/exteventinsnavcart`: publishes custom ROS message `septentrio_gnss_driver/ExtEventINSNavCart.msg`, corresponding to SBF block `ExtEventINSNavCart` 
-  + `/exteventinsnavgeod`: publishes custom ROS message `septentrio_gnss_driver/ExtEventINSNavGeod.msg`, corresponding to SBF block `ExtEventINSNavGeod` 
+  + `/exteventinsnavcart`: publishes custom ROS message `septentrio_gnss_driver/INSNavCart.msg`, corresponding to SBF block `ExtEventINSNavCart` 
+  + `/exteventinsnavgeod`: publishes custom ROS message `septentrio_gnss_driver/INSNavGeod.msg`, corresponding to SBF block `ExtEventINSNavGeod` 
   + `/diagnostics`: accepts generic ROS message [`diagnostic_msgs/DiagnosticArray.msg`](https://docs.ros.org/api/diagnostic_msgs/html/msg/DiagnosticArray.html), converted from the SBF blocks `QualityInd`, `ReceiverStatus` and `ReceiverSetup`
   + `/imu`: accepts generic ROS message [`sensor_msgs/Imu.msg`](https://docs.ros.org/en/api/sensor_msgs/html/msg/Imu.html), converted from the SBF blocks `ExtSensorMeas` and `INSNavGeod`
   + `/localization`: accepts generic ROS message [`nav_msgs/Odometry.msg`](https://docs.ros.org/en/api/nav_msgs/html/msg/Odometry.html), converted from the SBF block `INSNavGeod`
@@ -470,10 +471,8 @@ A selection of NMEA sentences, the majority being standardized sentences, and pr
   <summary>Some Ideas</summary>
 
   + Automatic Search: If the host address of the receiver is omitted in the `host:port` specification, the driver could automatically search and establish a connection on the specified port.
-  + Publishing the topic `/measepoch`: It could accept the custom ROS message `septentrio_gnss_driver/MeasEpoch.msg`, corresponding to the SBF block `MeasEpoch` (raw GNSS data).
   + Publishing the topic `/twist`: It could accept the generic ROS message [`geometry_msgs/TwistWithCovarianceStamped.msg`](https://docs.ros.org/melodic/api/geometry_msgs/html/msg/TwistWithCovarianceStamped.html), converted from the SBF blocks `PVTGeodetic`, `PosCovGeodetic` and others or via standardized NMEA sentences (cf. the [NMEA driver](https://wiki.ros.org/nmea_navsat_driver)).
     + The ROS message [`geometry_msgs/TwistWithCovarianceStamped.msg`](https://docs.ros.org/melodic/api/geometry_msgs/html/msg/TwistWithCovarianceStamped.html) could be fed directly into the [`robot_localization`](https://docs.ros.org/melodic/api/robot_localization/html/index.html) nodes of the ROS navigation stack.
-  + Additional ROSaic parameter: endianness of the system.
   + Equip ROSaic with an NTRIP client such that it can forward corrections to the receiver independently of `Data Link`.
 </details>
 

config/rover.yaml

@@ -76,6 +76,7 @@ publish:
   gpgga: false
   gprmc: false
   gpst : false
+  measepoch: false
   pvtcartesian: false
   pvtgeodetic: true
   poscovcartesian: false

include/septentrio_gnss_driver/abstraction/typedefs.hpp

@@ -49,12 +49,17 @@
 #include <sensor_msgs/Imu.h>
 #include <nav_msgs/Odometry.h>
 // GNSS msg includes
+#include <septentrio_gnss_driver/BlockHeader.h>
+#include <septentrio_gnss_driver/MeasEpoch.h>
+#include <septentrio_gnss_driver/MeasEpochChannelType1.h>
+#include <septentrio_gnss_driver/MeasEpochChannelType2.h>
 #include <septentrio_gnss_driver/AttCovEuler.h>
 #include <septentrio_gnss_driver/AttEuler.h>
 #include <septentrio_gnss_driver/PVTCartesian.h>
 #include <septentrio_gnss_driver/PVTGeodetic.h>
 #include <septentrio_gnss_driver/PosCovCartesian.h>
 #include <septentrio_gnss_driver/PosCovGeodetic.h>
+#include <septentrio_gnss_driver/VelCovCartesian.h>
 #include <septentrio_gnss_driver/VelCovGeodetic.h>
 // NMEA msg includes
 #include <nmea_msgs/Gpgga.h>
@@ -66,8 +71,6 @@
 #include <septentrio_gnss_driver/INSNavGeod.h>
 #include <septentrio_gnss_driver/IMUSetup.h>
 #include <septentrio_gnss_driver/VelSensorSetup.h>
-#include <septentrio_gnss_driver/ExtEventINSNavGeod.h>
-#include <septentrio_gnss_driver/ExtEventINSNavCart.h>
 #include <septentrio_gnss_driver/ExtSensorMeas.h>
 
 // Timestamp in nanoseconds (Unix epoch)
@@ -77,67 +80,44 @@ typedef ros::Time TimestampRos;
 
 // ROS messages
 typedef diagnostic_msgs::DiagnosticArray            DiagnosticArrayMsg;
-typedef diagnostic_msgs::DiagnosticArrayPtr         DiagnosticArrayMsgPtr;
 typedef diagnostic_msgs::DiagnosticStatus           DiagnosticStatusMsg;
-typedef diagnostic_msgs::DiagnosticStatusPtr        DiagnosticStatusMsgPtr;
 typedef geometry_msgs::Quaternion                   QuaternionMsg;
 typedef geometry_msgs::PoseWithCovarianceStamped    PoseWithCovarianceStampedMsg;
-typedef geometry_msgs::PoseWithCovarianceStampedPtr PoseWithCovarianceStampedMsgPtr;
 typedef geometry_msgs::TransformStamped             TransformStampedMsg;
 typedef gps_common::GPSFix                          GPSFixMsg;
-typedef gps_common::GPSFixPtr                       GPSFixMsgPtr;
 typedef gps_common::GPSStatus                       GPSStatusMsg;
 typedef sensor_msgs::NavSatFix                      NavSatFixMsg;
-typedef sensor_msgs::NavSatFixPtr                   NavSatFixMsgPtr;
 typedef sensor_msgs::NavSatStatus                   NavSatStatusMsg;
 typedef sensor_msgs::TimeReference                  TimeReferenceMsg;
-typedef sensor_msgs::TimeReferencePtr               TimeReferenceMsgPtr;
 typedef sensor_msgs::Imu                            ImuMsg;
-typedef sensor_msgs::ImuPtr                         ImuMsgPtr;
 typedef nav_msgs::Odometry                          LocalizationUtmMsg;
-typedef nav_msgs::OdometryPtr                       LocalizationUtmMsgPtr;
 
 // Septentrio GNSS SBF messages
-typedef septentrio_gnss_driver::AttCovEuler        AttCovEulerMsg;
-typedef septentrio_gnss_driver::AttCovEulerPtr     AttCovEulerMsgPtr;
-typedef septentrio_gnss_driver::AttEuler           AttEulerMsg;
-typedef septentrio_gnss_driver::AttEulerPtr        AttEulerMsgPtr;
-typedef septentrio_gnss_driver::PVTCartesian       PVTCartesianMsg;
-typedef septentrio_gnss_driver::PVTCartesianPtr    PVTCartesianMsgPtr;
-typedef septentrio_gnss_driver::PVTGeodetic        PVTGeodeticMsg;
-typedef septentrio_gnss_driver::PVTGeodeticPtr     PVTGeodeticMsgPtr;
-typedef septentrio_gnss_driver::PosCovCartesian    PosCovCartesianMsg;
-typedef septentrio_gnss_driver::PosCovCartesianPtr PosCovCartesianMsgPtr;
-typedef septentrio_gnss_driver::PosCovGeodetic     PosCovGeodeticMsg;
-typedef septentrio_gnss_driver::PosCovGeodeticPtr  PosCovGeodeticMsgPtr;
-typedef septentrio_gnss_driver::VelCovGeodetic     VelCovGeodeticMsg;
-typedef septentrio_gnss_driver::VelCovGeodeticPtr  VelCovGeodeticMsgPtr;
+typedef septentrio_gnss_driver::BlockHeader           BlockHeaderMsg;
+typedef septentrio_gnss_driver::MeasEpoch             MeasEpochMsg;
+typedef septentrio_gnss_driver::MeasEpochChannelType1 MeasEpochChannelType1Msg;
+typedef septentrio_gnss_driver::MeasEpochChannelType2 MeasEpochChannelType2Msg;
+typedef septentrio_gnss_driver::AttCovEuler           AttCovEulerMsg;
+typedef septentrio_gnss_driver::AttEuler              AttEulerMsg;
+typedef septentrio_gnss_driver::PVTCartesian          PVTCartesianMsg;
+typedef septentrio_gnss_driver::PVTGeodetic           PVTGeodeticMsg;
+typedef septentrio_gnss_driver::PosCovCartesian       PosCovCartesianMsg;
+typedef septentrio_gnss_driver::PosCovGeodetic        PosCovGeodeticMsg;
+typedef septentrio_gnss_driver::VelCovCartesian       VelCovCartesianMsg;
+typedef septentrio_gnss_driver::VelCovGeodetic        VelCovGeodeticMsg;
 
 // NMEA messages
 typedef nmea_msgs::Gpgga    GpggaMsg;
-typedef nmea_msgs::GpggaPtr GpggaMsgPtr;
 typedef nmea_msgs::Gpgsa    GpgsaMsg;
-typedef nmea_msgs::GpgsaPtr GpgsaMsgPtr;
 typedef nmea_msgs::Gpgsv    GpgsvMsg;
-typedef nmea_msgs::GpgsvPtr GpgsvMsgPtr;
 typedef nmea_msgs::Gprmc    GprmcMsg;
-typedef nmea_msgs::GprmcPtr GprmcMsgPtr;
 
 // Septentrio INS+GNSS SBF messages
 typedef septentrio_gnss_driver::INSNavCart            INSNavCartMsg;
-typedef septentrio_gnss_driver::INSNavCartPtr         INSNavCartMsgPtr;
 typedef septentrio_gnss_driver::INSNavGeod            INSNavGeodMsg;
-typedef septentrio_gnss_driver::INSNavGeodPtr         INSNavGeodMsgPtr;
 typedef septentrio_gnss_driver::IMUSetup              IMUSetupMsg;
-typedef septentrio_gnss_driver::IMUSetupPtr           IMUSetupMsgPtr;
 typedef septentrio_gnss_driver::VelSensorSetup        VelSensorSetupMsg;
-typedef septentrio_gnss_driver::VelSensorSetupPtr     VelSensorSetupMsgPtr;
-typedef septentrio_gnss_driver::ExtEventINSNavGeod    ExtEventINSNavGeodMsg;
-typedef septentrio_gnss_driver::ExtEventINSNavGeodPtr ExtEventINSNavGeodMsgPtr;
-typedef septentrio_gnss_driver::ExtEventINSNavCart    ExtEventINSNavCartMsg;
-typedef septentrio_gnss_driver::ExtEventINSNavCartPtr ExtEventINSNavCartMsgPtr;
 typedef septentrio_gnss_driver::ExtSensorMeas         ExtSensorMeasMsg;
-typedef septentrio_gnss_driver::ExtSensorMeasPtr      ExtSensorMeasMsgPtr;
 
 /**
  * @brief Convert nsec timestamp to ROS timestamp

include/septentrio_gnss_driver/communication/pcap_reader.hpp

@@ -32,7 +32,7 @@
 #define PCAP_READER_H
 
 #include <pcap/pcap.h>
-#include <stdint.h>
+#include <cstdint>
 #include <vector>
 #include <septentrio_gnss_driver/abstraction/typedefs.hpp>