From 64d544b845d68bd56923f3429087eea9a62461ae Mon Sep 17 00:00:00 2001 From: Ash Chandrasekaran Date: Fri, 13 Nov 2020 14:55:13 +1100 Subject: [PATCH 1/5] Updated the ReadMe.md File --- CMakeLists.txt | 2 +- README.md | 15 ++++++++------- package.xml | 2 +- 3 files changed, 10 insertions(+), 9 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 686aa48..89db08d 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(adnav-ros2) +project(ros2-driver) # Default to C99 if(NOT CMAKE_C_STANDARD) diff --git a/README.md b/README.md index dc248b2..3c81e44 100644 --- a/README.md +++ b/README.md @@ -28,25 +28,25 @@ The following guides are useful in getting started with ROS2 if you are not fami - Packages should be created in the src directory, not the root of the workspace. Navigate to `workspace-folder-name/src`, and run the package create command: ``` - ros2 pkg create --build-type ament_cmake adnav-ros2 + ros2 pkg create --build-type ament_cmake ros2-driver ``` -- Your terminal should return a message verifying the creation of your package and all its necessary files and folders. Navigate to `workspace-folder-name/src/adnav-ros2/src`. +- Your terminal should return a message verifying the creation of your package and all its necessary files and folders. Navigate to `workspace-folder-name/src/ros2-driver/src`. - Get the Advanced Navigation ROS2 Driver ``` - wget Something TODO + git clone https://github.com/advanced-navigation/ros2-driver.git ``` - You likely already have the `rclpp` and `std_msgs` packages installed as part of your ROS2 system. Either way, it’s good practice to run rosdep in the root of your workspace (`workspace-folder-name`) to check for missing dependencies before building: ``` rosdep install -i --from-path src --rosdistro foxy -y ``` -- In the root of your workspace, workspace-folder-name, source and build the package: +- In the root of your workspace, `workspace-folder-name`, source and build the package: - Source the ROS2 Environment to the current folder: ``` source /opt/ros/foxy/setup.bash ``` - Build your new package: ``` - colcon build --packages-select adnav-ros2 + colcon build --packages-select ros2-driver ``` ## Device Configuration @@ -61,6 +61,7 @@ If you are not sure how to configure your Advanced Navigation Device please refe Open a new terminal or new tab, navigate to `workspace-folder-name`, and source the setup files: ``` +source /opt/ros/foxy/setup.bash . install/setup.bash ``` @@ -73,7 +74,7 @@ Open a new terminal or new tab, navigate to `workspace-folder-name`, and source baud_rate The Baud rate configured on the device. Default 115200 comm_port The COM port of the connected device. Default /dev/ttyUSB0 ``` - ***e.g. ros2 run adnav-ros2 adnav_driver 115200 /dev/ttyUSB0*** + ***e.g. ros2 run ros2-driver adnav_driver 115200 /dev/ttyUSB0*** 2. Baud Rate, Comm Port and NTRIP as arguments: ``` ros2 run package_name executable_name -B [baud_rate] -D [comm_port] -s [server_url] -m [mountpoint] -u [username] -p [password] @@ -86,7 +87,7 @@ Open a new terminal or new tab, navigate to `workspace-folder-name`, and source -u username Username of your NTRIP account -p password Password of your NTRIP account ``` - ***e.g. ros2 run adnav-ros2 adnav_driver -B 115200 -D /dev/ttyUSB0 -s alldayrtk.com -m MOUNTPOINT_20 -u yourUsername -p yourPassword*** + ***e.g. ros2 run ros2-driver adnav_driver -B 115200 -D /dev/ttyUSB0 -s alldayrtk.com -m MOUNTPOINT_20 -u yourUsername -p yourPassword*** ## Published Topics diff --git a/package.xml b/package.xml index 17f17a9..9b26458 100644 --- a/package.xml +++ b/package.xml @@ -1,7 +1,7 @@ - adnav-ros2 + ros2-driver 2.0.0 Advanced Navigation ROS 2 Driver Support From d9fe9d97205c0229dc7888e4412789d89eeab4a2 Mon Sep 17 00:00:00 2001 From: ashwinsekarchandrasekaran <64625562+ashwinsekarchandrasekaran@users.noreply.github.com> Date: Mon, 16 Nov 2020 16:04:41 +1100 Subject: [PATCH 2/5] Update README.md Updated the ReadMe File --- README.md | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/README.md b/README.md index 3c81e44..635939b 100644 --- a/README.md +++ b/README.md @@ -26,12 +26,7 @@ The following guides are useful in getting started with ROS2 if you are not fami ## Build Instruction -- Packages should be created in the src directory, not the root of the workspace. Navigate to `workspace-folder-name/src`, and run the package create command: - ``` - ros2 pkg create --build-type ament_cmake ros2-driver - ``` -- Your terminal should return a message verifying the creation of your package and all its necessary files and folders. Navigate to `workspace-folder-name/src/ros2-driver/src`. -- Get the Advanced Navigation ROS2 Driver +- Packages should be created in the src directory, not the root of the workspace. Navigate to `workspace-folder-name/src`, and get the Advanced Navigation ROS2 Driver ``` git clone https://github.com/advanced-navigation/ros2-driver.git ``` From fd7f30768c26bcfb92b26ab848807d106275342b Mon Sep 17 00:00:00 2001 From: ashwinsekarchandrasekaran <64625562+ashwinsekarchandrasekaran@users.noreply.github.com> Date: Tue, 17 Nov 2020 14:01:40 +1100 Subject: [PATCH 3/5] Update advanced_navigation_driver.cpp Updated the driver text. --- src/advanced_navigation_driver.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/advanced_navigation_driver.cpp b/src/advanced_navigation_driver.cpp index 51e46d6..b1f1284 100644 --- a/src/advanced_navigation_driver.cpp +++ b/src/advanced_navigation_driver.cpp @@ -1,7 +1,7 @@ /****************************************************************/ /* */ -/* Advanced Navigation */ -/* ROS2 Driver */ +/* Advanced Navigation */ +/* ROS2 Driver */ /* Copyright 2020, Advanced Navigation Pty Ltd */ /* */ /****************************************************************/ From c5ce95d3b6aa60cba76ceb2eefdff6beb748ed6b Mon Sep 17 00:00:00 2001 From: Christopher Thompson Date: Tue, 15 Apr 2025 10:43:01 +0000 Subject: [PATCH 4/5] Add tf2 dependencies to build --- CMakeLists.txt | 10 ++++++---- package.xml | 8 +++++--- 2 files changed, 11 insertions(+), 7 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 89db08d..53ea4ef 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,14 +16,16 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") endif() find_package(ament_cmake REQUIRED) -find_package(rclcpp REQUIRED) -find_package(std_msgs REQUIRED) -find_package(sensor_msgs REQUIRED) find_package(diagnostic_msgs REQUIRED) find_package(geometry_msgs REQUIRED) +find_package(rclcpp REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(std_msgs REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_ros REQUIRED) add_executable(adnav_driver src/advanced_navigation_driver.cpp src/rs232/rs232.c src/an_packet_protocol.c src/spatial_packets.c src/NTRIP_Client/NTRIP/ntripclient.c) -ament_target_dependencies(adnav_driver rclcpp std_msgs sensor_msgs diagnostic_msgs geometry_msgs) +ament_target_dependencies(adnav_driver rclcpp std_msgs sensor_msgs diagnostic_msgs geometry_msgs tf2 tf2_ros) install(TARGETS adnav_driver diff --git a/package.xml b/package.xml index 9b26458..7e352e4 100644 --- a/package.xml +++ b/package.xml @@ -8,11 +8,13 @@ MIT ament_cmake - rclcpp - std_msgs - sensor_msgs diagnostic_msgs geometry_msgs + rclcpp + sensor_msgs + std_msgs + tf2 + tf2_ros ament_lint_auto ament_lint_common From d0bc9f9e634995d28be2b81c630a1b420bd4efe1 Mon Sep 17 00:00:00 2001 From: Christopher Thompson Date: Tue, 15 Apr 2025 10:54:35 +0000 Subject: [PATCH 5/5] Rename variable to fix duplicate symbol error --- src/rs232/rs232.c | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/src/rs232/rs232.c b/src/rs232/rs232.c index 8dfa0e1..aa11af0 100644 --- a/src/rs232/rs232.c +++ b/src/rs232/rs232.c @@ -39,7 +39,7 @@ int Cport, - error; + rs232_error; struct termios new_port_settings, old_port_settings; @@ -108,8 +108,8 @@ int OpenComport(char *comport, int baudrate) return(1); } - error = tcgetattr(Cport, &old_port_settings); - if(error==-1) + rs232_error = tcgetattr(Cport, &old_port_settings); + if(rs232_error==-1) { close(Cport); perror("unable to read portsettings "); @@ -123,8 +123,8 @@ int OpenComport(char *comport, int baudrate) new_port_settings.c_lflag = 0; new_port_settings.c_cc[VMIN] = 0; /* block untill n bytes are received */ new_port_settings.c_cc[VTIME] = 1; /* block untill a timer expires (n * 100 mSec.) */ - error = tcsetattr(Cport, TCSANOW, &new_port_settings); - if(error==-1) + rs232_error = tcsetattr(Cport, TCSANOW, &new_port_settings); + if(rs232_error==-1) { close(Cport); perror("unable to adjust portsettings "); @@ -367,3 +367,4 @@ int IsCTSEnabled() #endif +