refactor: Port gnss_comm_msgs to ROS 2 in order to compile Vilens fro…

…m source

CMakeLists.txt

@@ -1,34 +1,32 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.5)
 project(gnss_comm_msgs)
 
 # to make sure ccache produces colorized output.
 add_compile_options(-fdiagnostics-color=always)
 
-find_package(catkin REQUIRED COMPONENTS
-  message_generation
-  std_msgs
-)
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
 
-add_message_files(
-  FILES
-  GnssTimeMsg.msg
-  GnssEphemMsg.msg
-  GnssGloEphemMsg.msg
-  GnssMeasMsg.msg
-  GnssObsMsg.msg
-  GnssBestXYZMsg.msg
-  GnssPVTSolnMsg.msg
-  GnssSvsMsg.msg
-  GnssTimePulseInfoMsg.msg
-  StampedFloat64Array.msg
+set(msg_files
+  "msg/GnssTimeMsg.msg"
+  "msg/GnssEphemMsg.msg"
+  "msg/GnssGloEphemMsg.msg"
+  "msg/GnssMeasMsg.msg"
+  "msg/GnssObsMsg.msg"
+  "msg/GnssBestXYZMsg.msg"
+  "msg/GnssPVTSolnMsg.msg"
+  "msg/GnssSvsMsg.msg"
+  "msg/GnssTimePulseInfoMsg.msg"
+  "msg/StampedFloat64Array.msg"
 )
 
-generate_messages(
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
   DEPENDENCIES
   std_msgs
 )
 
-catkin_package(
-  CATKIN_DEPENDS message_runtime
-                 std_msgs
-)
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()

msg/GnssBestXYZMsg.msg

@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header
 float64[] pos
 float64[] pos_sigma
 float64[] vel

msg/GnssEphemMsg.msg

@@ -11,14 +11,14 @@ uint32 iodc
 uint32 health
 uint32 code
 float64 ura
-float64 A
+float64 a
 float64 e
 float64 i0
 float64 omg
-float64 OMG0
-float64 M0
+float64 omg0
+float64 m0
 float64 delta_n
-float64 OMG_dot
+float64 omg_dot
 float64 i_dot
 float64 cuc
 float64 cus
@@ -31,5 +31,5 @@ float64 af1
 float64 af2
 float64 tgd0
 float64 tgd1
-float64 A_dot
+float64 a_dot
 float64 n_dot

msg/GnssObsMsg.msg

@@ -3,8 +3,8 @@
 GnssTimeMsg time    # measurement time
 uint32 sat          # satellite ID (define by `sat_no` function in `gnss_utility.hpp`)
 float64[] freqs     # observed frequencies [Hz]
-float64[] CN0       # carrier-to-noise density ratio (signal strength) [dB-Hz]
-uint8[] LLI         # lost-lock indicator (1=lost)
+float64[] cn0       # carrier-to-noise density ratio (signal strength) [dB-Hz]
+uint8[] lli         # lost-lock indicator (1=lost)
 uint8[] code        # channel code
 float64[] psr       # pseudorange measurement [m]
 float64[] psr_std   # pseudorange standard deviation [m]

msg/GnssSvsMsg.msg

@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header
 uint32[]    sat
 uint32[]    freqo
 bool[]      health

msg/StampedFloat64Array.msg

@@ -1,4 +1,4 @@
 # A list of float values with timestamp
 
-Header header
+std_msgs/Header header
 float64[] data

package.xml

@@ -1,15 +1,23 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>gnss_comm_msgs</name>
   <version>0.0.1</version>
   <description>
   Messages from GNSS receiver.
   </description>
-  <maintainer email="beuchert@robots.ox.ac.uk">Jonas Beuchert</maintainer>
+  <maintainer email="tobit@robots.ox.ac.uk">Tobit Flatscher</maintainer>
   <license>GPL-3.0</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>message_generation</build_depend>
-  <exec_depend>message_runtime</exec_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>builtin_interfaces</depend>
   <depend>std_msgs</depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>