Feature/dgnss updates (#91)

* Refactored gps_testing.py. Moved moving average to a class,
moved heading calculation to its own method

* build: Add ublox ROS driver to project.json dependencies

* toss some rtk configs together

* Add node for publishing ROS topic from RTK GNSS

* Updated gps_testing node to include new node that interfaces with ROS library for new gps

* Add launch documentation

* Add mapviz

* Rename rtk files

* updated README

* Update comments/document code

* Update wr_hsi_sensing readme

* Clarify README

* Update README

* rename nodes

* update launch files to launch dependent nodes

* delete old launch file

* remove extra debug logging

* revise dependency declarations

* remove build instructions in readme

* add images to readme

* Move README so images show up in doxygen

---------

Co-authored-by: Aiden Carney <ajcarney314@gmail.com>
Co-authored-by: Colin Li <clikingofinfo@gmail.com>
Co-authored-by: LetianLi <Letian_li@outlook.com>

Author: 4 people

project.json

@@ -44,6 +44,20 @@
         "package": "ros-noetic-moveit-visual-tools",
         "provider": "apt"
       }
+    },
+    {
+      "name": "ros-ublox",
+      "build": {
+        "package": "ros-noetic-ublox",
+        "provider": "apt"
+      }
+    },
+    {
+      "name": "mapviz",
+      "build": {
+        "package": "ros-noetic-mapviz",
+        "provider": "apt"
+      }
     }
   ]
-}
+}

src/wr_hsi_sensing/CMakeLists.txt

@@ -7,7 +7,12 @@ project(wr_hsi_sensing)
 ## 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 message_generation std_msgs rospy)
+find_package(catkin REQUIRED COMPONENTS 
+    message_generation
+    std_msgs
+    rospy
+    ublox_gps
+)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)

src/wr_hsi_sensing/README.md

@@ -0,0 +1,17 @@
+debug: 1 # Range 0-4 (0 means no debug statements will print)
+
+device: /dev/ttyACM0
+frame_id: gps # TODO: change it in the future?
+
+config_on_startup: false
+uart1:
+  baudrate: 9600
+rate: 1
+nav_rate: 1
+publish:
+  all: true
+# fix_mode: auto
+# dgnss_mode: 3 # Fixed mode
+
+# inf: 
+#   all: true