From a7d59527b2d31410a84a345f7144acf462523d04 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org>
Date: Tue, 12 Nov 2024 17:45:40 +0100
Subject: [PATCH] Refactor navsat_gpxfix demo
MIME-Version: 1.0
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Content-Transfer-Encoding: 8bit

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
---
 ros_gz_sim_demos/CMakeLists.txt               |  6 ++
 ros_gz_sim_demos/README.md                    |  7 ++-
 ros_gz_sim_demos/config/navsat_gpsfix.yaml    |  9 +++
 .../launch/navsat_gpsfix.launch.py            | 63 -------------------
 .../launch/navsat_gpsfix.launch.xml           |  6 ++
 5 files changed, 27 insertions(+), 64 deletions(-)
 create mode 100644 ros_gz_sim_demos/config/navsat_gpsfix.yaml
 delete mode 100644 ros_gz_sim_demos/launch/navsat_gpsfix.launch.py
 create mode 100644 ros_gz_sim_demos/launch/navsat_gpsfix.launch.xml

diff --git a/ros_gz_sim_demos/CMakeLists.txt b/ros_gz_sim_demos/CMakeLists.txt
index 8e0f580a..9b69104b 100644
--- 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
index c404a4dc..163d4b33 100644
--- 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
new file mode 100644
index 00000000..1c497658
--- /dev/null
+++ 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
deleted file mode 100644
index 83adcdcc..00000000
--- a/ros_gz_sim_demos/launch/navsat_gpsfix.launch.py
+++ /dev/null
@@ -1,63 +0,0 @@
-# Copyright 2022 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import os
-
-from ament_index_python.packages import get_package_share_directory
-
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.actions import IncludeLaunchDescription
-from launch.conditions import IfCondition
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
-
-from launch_ros.actions import Node
-
-
-def generate_launch_description():
-
-    pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
-
-    gz_sim = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')),
-        launch_arguments={
-            'gz_args': '-v 4 -r spherical_coordinates.sdf'
-        }.items(),
-    )
-
-    # RQt
-    rqt = Node(
-        package='rqt_topic',
-        executable='rqt_topic',
-        arguments=['-t'],
-        condition=IfCondition(LaunchConfiguration('rqt'))
-    )
-
-    # Bridge
-    bridge = Node(
-        package='ros_gz_bridge',
-        executable='parameter_bridge',
-        arguments=['/navsat@gps_msgs/msg/GPSFix@gz.msgs.NavSat'],
-        output='screen'
-    )
-
-    return LaunchDescription([
-        gz_sim,
-        DeclareLaunchArgument('rqt', default_value='true',
-                              description='Open RQt.'),
-        bridge,
-        rqt
-    ])
diff --git a/ros_gz_sim_demos/launch/navsat_gpsfix.launch.xml b/ros_gz_sim_demos/launch/navsat_gpsfix.launch.xml
new file mode 100644
index 00000000..48e94243
--- /dev/null
+++ 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>