Refactor navsat_gpxfix demo

Signed-off-by: Carlos Agüero <[email protected]>
gazebosim · Nov 12, 2024 · a7d5952 · a7d5952
1 parent ad225a2
commit a7d5952
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Showing 5 changed files with 27 additions and 64 deletions.
diff --git a/ros_gz_sim_demos/CMakeLists.txt b/ros_gz_sim_demos/CMakeLists.txt
@@ -9,6 +9,12 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
+install(
+  DIRECTORY
+    config/
+  DESTINATION share/${PROJECT_NAME}/config
+)
+
 install(
   DIRECTORY
     launch/

diff --git a/ros_gz_sim_demos/README.md b/ros_gz_sim_demos/README.md
@@ -134,7 +134,12 @@ Publishes magnetic field readings.
 
 Publishes satellite navigation readings, only available in Fortress on.
 
-    ros2 launch ros_gz_sim_demos navsat.launch.py
+GNSS information can be obtained as:
+
+    # sensor_msgs/msg/NavSatFix
+    ros2 launch ros_gz_sim_demos navsat.launch.xml
+    # gps_msgs/msg/GPSFix
+    ros2 launch ros_gz_sim_demos navsat_gpsfix.launch.xml
 
 ![](images/navsat_demo.png)
 

diff --git a/ros_gz_sim_demos/config/navsat_gpsfix.yaml b/ros_gz_sim_demos/config/navsat_gpsfix.yaml
@@ -0,0 +1,9 @@
+# Navsat_gpsfix configuration.
+- ros_topic_name: "/navsat"
+  gz_topic_name: "/navsat"
+  ros_type_name: "gps_msgs/msg/GPSFix"
+  gz_type_name: "gz.msgs.NavSat"
+  subscriber_queue: 5
+  publisher_queue: 6
+  lazy: false
+  direction: GZ_TO_ROS
diff --git a/ros_gz_sim_demos/launch/navsat_gpsfix.launch.py b/ros_gz_sim_demos/launch/navsat_gpsfix.launch.py
diff --git a/ros_gz_sim_demos/launch/navsat_gpsfix.launch.xml b/ros_gz_sim_demos/launch/navsat_gpsfix.launch.xml
@@ -0,0 +1,6 @@
+<launch>
+  <gz_server world_sdf_file="spherical_coordinates.sdf" use_composition="True" create_own_container="True" />
+  <ros_gz_bridge bridge_name="ros_gz_bridge" config_file="$(find-pkg-share ros_gz_sim_demos)/config/navsat_gpsfix.yaml" use_composition="True" />
+  <node pkg="rqt_topic" exec="rqt_topic" args="-t" />
+  <executable cmd="gz sim -g" />
+</launch>