Poll gps and convert data to publish

new-code/src/gps/CMakeLists.txt

@@ -1,35 +1,33 @@
 cmake_minimum_required(VERSION 3.5)
 project(gps)
 
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
+if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif ()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+if (BUILD_TESTING)
+    find_package(ament_lint_auto REQUIRED)
+    # the following line skips the linter which checks for copyrights
+    # comment the line when a copyright and license is added to all source files
+    set(ament_cmake_copyright_FOUND TRUE)
+    # the following line skips cpplint (only works in a git repo)
+    # comment the line when this package is in a git repo and when
+    # a copyright and license is added to all source files
+    set(ament_cmake_cpplint_FOUND TRUE)
+    ament_lint_auto_find_test_dependencies()
+endif ()
 
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # uncomment the line when a copyright and license is not present in all source files
-  #set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # uncomment the line when this package is not in a git repo
-  #set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
+add_executable(gps_node src/gpsPublisherNode.cpp
+        src/gps2.cpp)
+ament_target_dependencies(gps_node rclcpp std_msgs sensor_msgs)
+install(TARGETS
+        gps_node
+        DESTINATION lib/${PROJECT_NAME}
+)
 
-ament_package()
+ament_package()

new-code/src/gps/package.xml

@@ -1,18 +1,18 @@
 <?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>gps</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="a@a.com">nvidia</maintainer>
-  <license>TODO: License declaration</license>
+    <name>gps</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="a@a.com">nvidia</maintainer>
+    <license>TODO: License declaration</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+    <buildtool_depend>ament_cmake</buildtool_depend>
+    <depend>rclcpp</depend>
+    <depend>std_msgs</depend>
+    <depend>sensor_msgs</depend>
 
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
 </package>