ros-drivers · RonaldEnsing · Feb 9, 2018 · Mar 12, 2018 · Mar 12, 2018 · Mar 12, 2018
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,204 +1,22 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(advanced_navigation_driver)
 
-## Compile as C++11, supported in ROS Kinetic and newer
 add_compile_options(-std=c++11)
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
+  diagnostic_msgs
+  nav_msgs
   roscpp
+  sensor_msgs
   std_msgs
+  tf
 )
 
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
+catkin_package()
 
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include 
-#  LIBRARIES an_driver 
-#  CATKIN_DEPENDS roscpp std_msgs
-#  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories( 
-# include
+include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/an_driver.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/an_driver_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_an_driver.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
-
-#########################
-## Advanced Navigation ##
-#########################
 add_executable(advanced_navigation_driver src/an_driver.cpp src/spatial_packets.c src/an_packet_protocol.c src/rs232/rs232.c)
 target_link_libraries(advanced_navigation_driver ${catkin_LIBRARIES})
diff --git a/README.md b/README.md
@@ -5,7 +5,7 @@ Packet to Published Message Example
 
 Copyright 2017, Advanced Navigation
 
-This is an example using the Advanced Navigation Spatial SDK to create a ROS driver that reads and decodes the anpp packets (in this case packet #20 and packet #27) and publishes the information as ROS topics / messages. 
+This is an example using the Advanced Navigation Spatial SDK to create a ROS driver that reads and decodes the anpp packets (in this case packet #20, #27, #36 and #40) and publishes the information as ROS topics / messages.
 
 It should work on all Advanced Navigation INS devices.
 
@@ -15,3 +15,22 @@ If you require any assistance using this code, please email support@advancednavi
 
 Installation, build, device configuration, and execution instructions can be found in the file "Advanced Navigation ROS Driver Notes.txt". 
 
+
+*** modifications by Kyler Laird ***
+
+Orientation now complies with REP 103.  East is zero degrees.  Degrees increment counter-clockwise.
+https://github.com/ros-drivers/advanced_navigation_driver/issues/3#issuecomment-372348146
+
+new parameters:
+	utm_zone:  Specify a UTM Zone number.  This will be used for calculating the transform.
+
+new topics:
+	rtcm:  Strings published to this topic will be passed to the device as RTCM corrections.
+	odom:  Odometry from the device is published to this topic.  (Depends on utm_zone.)
+
+new frames:
+	~:  This frame has the name of the current name space and describes the position and orientation of the device.  (Depends on utm_zone.)
+
+Under Linux, serial port reads are blocking.  This reduces CPU usage from 100% to 5% (for 20 Hz on an i5).
+
+These changes are all tentative and need testing.
diff --git a/package.xml b/package.xml
@@ -1,19 +1,19 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>advanced_navigation_driver</name>
   <version>1.0.0</version>
-  <description>The Advanced Navigation driver package for ROS</description>
+  <description>The Advanced Navigation driver package for ROS.</description>
 
   <maintainer email="[email protected]">[email protected]</maintainer>
 
   <license>MIT</license>
 
   <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend>roscpp</build_depend>
-  <build_depend>std_msgs</build_depend>
-
-  <run_depend>roscpp</run_depend>
-  <run_depend>std_msgs</run_depend>
 
+  <depend>diagnostic_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>roscpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>tf</depend>
 </package>