ROS2 Jazzy Compilation Build

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)
@@ -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

README.md

@@ -26,27 +26,22 @@ 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: 
+- 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   
   ```
-  ros2 pkg create --build-type ament_cmake adnav-ros2
-  ```
-- 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`.
-- 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 +56,7 @@ 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 +69,7 @@ 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 +82,7 @@ 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

package.xml

@@ -1,18 +1,20 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>adnav-ros2</name>
+  <name>ros2-driver</name>
   <version>2.0.0</version>
   <description>Advanced Navigation ROS 2 Driver</description>
   <maintainer email="support@advancednavigation.com">Support</maintainer>
   <license>MIT</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <depend>rclcpp</depend>
-  <depend>std_msgs</depend>
-  <depend>sensor_msgs</depend>
   <depend>diagnostic_msgs</depend>
   <depend>geometry_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

src/advanced_navigation_driver.cpp

@@ -1,7 +1,7 @@
 /****************************************************************/
 /*                                                              */
-/*                       Advanced Navigation                    */
-/*         					  ROS2 Driver			  			*/
+/*                    Advanced Navigation                       */
+/*         		  ROS2 Driver			        */
 /*          Copyright 2020, Advanced Navigation Pty Ltd         */
 /*                                                              */
 /****************************************************************/

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
 
+