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Refactor navsat demo #639

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Refactor navsat demo #639

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a60a81d
Refactor navsat demo
caguero Nov 6, 2024
d015d4b
Merge branch 'ros2' into caguero/navsat_demo_v2
caguero Nov 22, 2024
0d01a36
Tweak
caguero Nov 22, 2024
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6 changes: 6 additions & 0 deletions ros_gz_sim_demos/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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/
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2 changes: 1 addition & 1 deletion ros_gz_sim_demos/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -134,7 +134,7 @@ Publishes magnetic field readings.

Publishes satellite navigation readings, only available in Fortress on.

ros2 launch ros_gz_sim_demos navsat.launch.py
ros2 launch ros_gz_sim_demos navsat.launch.xml

![](images/navsat_demo.png)

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6 changes: 6 additions & 0 deletions ros_gz_sim_demos/config/navsat.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,6 @@
# Navsat configuration.
- topic_name: "/navsat"
ros_type_name: "sensor_msgs/msg/NavSatFix"
gz_type_name: "gz.msgs.NavSat"
lazy: true
direction: GZ_TO_ROS
63 changes: 0 additions & 63 deletions ros_gz_sim_demos/launch/navsat.launch.py
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12 changes: 12 additions & 0 deletions ros_gz_sim_demos/launch/navsat.launch.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,12 @@
<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.yaml"
use_composition="True" />
<node pkg="rqt_topic" exec="rqt_topic" args="-t" />
<executable cmd="gz sim -g" />
</launch>