populate repo with full package

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(ess_imu_driver)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  sensor_msgs
+  std_msgs
+  geometry_msgs
+  tf2
+)
+
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  CATKIN_DEPENDS
+  roscpp
+  sensor_msgs
+  std_msgs
+  geometry_msgs
+  tf2
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+
+# Specify compiler options
+set(CMAKE_CXX_COMPILER "/usr/bin/g++")
+
+# Default to C99
+if (CMAKE_VERSION VERSION_LESS "3.1")
+    if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
+      set (CMAKE_C_FLAGS "-std=gnu99 ${CMAKE_C_FLAGS}")
+    endif ()
+else ()
+    set (CMAKE_C_STANDARD 99)
+endif ()
+
+# Specify DEBUG macro to enable any debug code by adding "-DDEBUG" in add_definitions()
+#add_definitions(-DDEBUG)
+
+# Specify ACCL_RANGE_16G macro to enable 16G accelerometer range, otherwise defaults to 8G
+# Only supported for G330PDG0/G366PDG0/G370PDG0/G370PDT0
+# Uncomment below to enable 16G output range
+#add_definitions(-DACCL_RANGE_16G)
+
+# Refer to the README_src.md inside the src folder for more details
+# Uncomment the desired imu_model to build
+
+# Current
+#set(IMU_MODEL "G330PDG0")
+#set(IMU_MODEL "G365PDC1")
+#set(IMU_MODEL "G365PDF1")
+set(IMU_MODEL "G366PDG0")
+#set(IMU_MODEL "G370PDF1")
+#set(IMU_MODEL "G370PDS0")
+#set(IMU_MODEL "G370PDG0")
+#set(IMU_MODEL "G370PDT0")
+
+# legacy
+#set(IMU_MODEL "G320PDG0")
+#set(IMU_MODEL "G354PDH0")
+#set(IMU_MODEL "G364PDCA")
+#set(IMU_MODEL "G364PDC0")
+#set(IMU_MODEL "V340PDD0")
+
+# Select Platform type (NONE or RPI (RaspberryPi))
+# NOTE: Platform type must be set to RaspberryPi to support SPI interface with this software
+set(PLATFORM "NONE")
+#set(PLATFORM "RPI")
+
+# Select Serial Interface type to UART or SPI
+# NOTE: SPI interface is only supported by RaspberryPi with this software
+set(INTERFACE "UART")
+#set(INTERFACE "SPI")
+
+message("-- Building for IMU Model: ${IMU_MODEL}")
+message("---- Building for platform: ${PLATFORM}")
+message("---- Building for interface: ${INTERFACE}")
+
+# When SPI interface selected, mandatory platform is RPI
+if (INTERFACE STREQUAL "SPI")
+  set(PLATFORM "RPI")
+  message("---- SPI selected forcing platform: ${PLATFORM}")
+endif()
+
+# Define macros variables for compilation
+add_definitions(-D${IMU_MODEL})
+add_definitions(-DBUILD_FOR=\"${IMU_MODEL}\")
+add_definitions(-D${INTERFACE})
+add_definitions(-D${PLATFORM})
+
+# Setting macro NATIVE_QUAT enables hardware quaternion output function for G365/G330/G366
+# and has no effect for any other IMU models
+# NOTE: DONOT delete this macro
+add_definitions(-DNATIVE_QUAT)
+
+# Create file list for C libraries based on platform
+if (PLATFORM STREQUAL "RPI")
+  set(lib_sources
+    src/hcl_rpi.c
+    src/hcl_gpio_rpi.c
+  )
+elseif (PLATFORM STREQUAL "NONE")
+  set(lib_sources
+    src/hcl_linux.c
+    src/hcl_gpio.c
+  )
+else()
+  message([FATAL_ERROR] "**** Invalid Platform")
+endif()
+
+
+# Create file list for C libraries based on interface
+if (INTERFACE STREQUAL "SPI")
+  set(lib_sources ${lib_sources}
+    src/hcl_spi_rpi.c
+    src/sensor_epsonCommon.c
+    src/sensor_epsonSpi.c
+  )
+elseif (INTERFACE STREQUAL "UART")
+  set(lib_sources ${lib_sources}
+    src/hcl_uart.c
+    src/sensor_epsonCommon.c
+    src/sensor_epsonUart.c
+  )
+else()
+  message([FATAL_ERROR] "**** Invalid Interface")
+endif()
+
+# Add IMU model specific source to library
+if (IMU_MODEL STREQUAL "G320PDG0")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG320.c)
+elseif (IMU_MODEL STREQUAL "G354PDH0")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG354.c)
+elseif (IMU_MODEL STREQUAL "G364PDCA")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG364.c)
+elseif (IMU_MODEL STREQUAL "G364PDC0")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG364.c)
+elseif (IMU_MODEL STREQUAL "G365PDC1")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG365.c)
+elseif (IMU_MODEL STREQUAL "G365PDF1")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG365.c)
+elseif (IMU_MODEL STREQUAL "G370PDF1")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG370.c)
+elseif (IMU_MODEL STREQUAL "G370PDS0")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG370.c)
+elseif (IMU_MODEL STREQUAL "G330PDG0")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG330_G366.c)
+elseif (IMU_MODEL STREQUAL "G366PDG0")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG330_G366.c)
+elseif (IMU_MODEL STREQUAL "G370PDG0")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG370.c)
+elseif (IMU_MODEL STREQUAL "G370PDT0")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG370.c)
+elseif (IMU_MODEL STREQUAL "V340PDD0")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonV340.c)
+else()
+  message([FATAL_ERROR] "**** Invalid IMU Model")
+endif()
+
+# Declare a library for Epson IMU functions from C sources
+add_library(ess_imu_driver_lib
+  ${lib_sources}
+)
+
+# Link external libraries to Epson IMU Library
+if (PLATFORM STREQUAL "RPI")
+  # Determine location of wiringPi library on the host system
+  # Needed if building on Raspberry Pi platform
+  find_library(wiringPi_LIB NAMES wiringPi)
+
+  target_link_libraries(ess_imu_driver_lib
+    ${wiringPi_LIB}
+  )
+endif()
+
+
+# Declare a C++ executable
+if (INTERFACE STREQUAL "SPI")
+add_executable(ess_imu_driver_node
+  src/epson_imu_spi_ros_node.cpp
+)
+elseif (INTERFACE STREQUAL "UART")
+add_executable(ess_imu_driver_node
+  src/epson_imu_uart_ros_node.cpp
+)
+else()
+  message([FATAL_ERROR] "**** Invalid Interface")
+endif()
+
+# Link Epson IMU library to executable target ROS node
+target_link_libraries(ess_imu_driver_node
+  ${catkin_LIBRARIES}
+  ess_imu_driver_lib
+)
+
+#############
+## Install ##
+#############
+
+## Mark executables and/or libraries for installation
+install(TARGETS ess_imu_driver_node
+   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)

LICENSE.txt

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+The Epson IMU C++ Wrapper ROS1 Node is released under BSD-3 license:
+src/epson_imu_uart_ros_node.cpp
+src/epson_imu_spi_ros_node.cpp
+
+Original Code Development:
+Copyright (c) 2019, Carnegie Mellon University. All rights reserved.
+
+Additional Code contributed:
+Copyright (c) 2020, 2023 Seiko Epson Corp. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+   may be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+
+
+The Epson IMU C driver software is released as public domain:
+all other source files excluding epson_imu_uart_ros_node.cpp & epson_imu_spi_ros_node.cpp found in src/
+
+THE SOFTWARE IS RELEASED INTO THE PUBLIC DOMAIN.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+NONINFRINGEMENT, SECURITY, SATISFACTORY QUALITY, AND FITNESS FOR A
+PARTICULAR PURPOSE. IN NO EVENT SHALL EPSON BE LIABLE FOR ANY LOSS, DAMAGE
+OR CLAIM, ARISING FROM OR IN CONNECTION WITH THE SOFTWARE OR THE USE OF THE
+SOFTWARE.