Merge branch 'master' into rtk_fix

.github/workflows/main.yml

@@ -0,0 +1,16 @@
+name: CI
+
+on: [push, pull_request]
+
+jobs:
+  industrial_ci:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: noetic, ROS_REPO: testing}
+          - {ROS_DISTRO: noetic, ROS_REPO: main}
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}

LICENSE

@@ -0,0 +1,11 @@
+Copyright 2023, Ken Tossell
+
+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.

gps_common/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package gps_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.4 (2023-06-14)
+------------------
+
 0.3.3 (2022-11-28)
 ------------------
 * Fix truncation warning for UTM zone snprintf() (`#44 <https://github.com/swri-robotics/gps_umd/issues/44>`_)

gps_common/CMakeLists.txt

@@ -28,6 +28,7 @@ catkin_python_setup()
 add_message_files(
   FILES
     GPSStatus.msg
+    GPSExtendedStatus.msg
     GPSFix.msg
 )
 

gps_common/msg/GPSExtendedStatus.msg

@@ -0,0 +1,9 @@
+# Extended Measurement status to use for GPSStatus.msg
+int16 STATUS_NO_FIX=-1    # Unable to fix position
+int16 STATUS_FIX=0        # Normal fix
+int16 STATUS_SBAS_FIX=1   # Fixed using a satellite-based augmentation system
+int16 STATUS_GBAS_FIX=2   #          or a ground-based augmentation system
+int16 STATUS_DGPS_FIX=18  # Fixed with DGPS
+int16 STATUS_RTK_FIX=19   # Real-Time Kinematic, fixed integers
+int16 STATUS_RTK_FLOAT=20 # Real-Time Kinematic, float integers
+int16 STATUS_WAAS_FIX=33  # Fixed with WAAS

gps_common/package.xml

@@ -1,11 +1,12 @@
 <?xml version="1.0"?>
 <package>
   <name>gps_common</name>
-  <version>0.3.3</version>
+  <version>0.3.4</version>
   <description>GPS messages and common routines for use in GPS drivers</description>
 
-  <maintainer email="timo.roehling@fkie.fraunhofer.de">Timo Roehling</maintainer>
-  <maintainer email="preed@swri.org">P. J. Reed</maintainer>
+  <author email="timo.roehling@fkie.fraunhofer.de">Timo Roehling</author>
+  <author email="preed@swri.org">P. J. Reed</author>
+  <maintainer email="swri-robotics@swri.org">Southwest Research Institute</maintainer>
   <license>BSD</license>
   <url type="website">http://ros.org/wiki/gps_common</url>
 

gps_umd/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package gps_umd
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.4 (2023-06-14)
+------------------
+
 0.3.3 (2022-11-28)
 ------------------
 

gps_umd/package.xml

@@ -1,11 +1,12 @@
 <?xml version="1.0"?>
 <package>
   <name>gps_umd</name>
-  <version>0.3.3</version>
+  <version>0.3.4</version>
   <description>gps_umd metapackage</description>
 
-  <maintainer email="ken@tossell.net">Ken Tossell</maintainer>
-  <maintainer email="preed@swri.org">P. J. Reed</maintainer>
+  <author email="ken@tossell.net">Ken Tossell</author>
+  <author email="preed@swri.org">P. J. Reed</author>
+  <maintainer email="swri-robotics@swri.org">Southwest Research Institute</maintainer>
 
   <license>BSD</license>
 

gpsd_client/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package gpsd_client
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.4 (2023-06-14)
+------------------
+* GPSD API v12 Compatibility (`#78 <https://github.com/swri-robotics/gps_umd/issues/78>`_)
+* Contributors: MariuszSzczepanikSpyrosoft
+
 0.3.3 (2022-11-28)
 ------------------
 * Adding better debugging output to help diagnose corner case (`#59 <https://github.com/swri-robotics/gps_umd/issues/59>`_)

gpsd_client/package.xml

@@ -1,14 +1,15 @@
 <?xml version="1.0"?>
 <package>
   <name>gpsd_client</name>
-  <version>0.3.3</version>
+  <version>0.3.4</version>
   <description>connects to a GPSd server and broadcasts GPS fixes 
    using the NavSatFix message</description>
 
-  <maintainer email="timo.roehling@fkie.fraunhofer.de">Timo Roehling</maintainer>
-  <maintainer email="preed@swri.org">P. J. Reed</maintainer>
   <author email="ken@tossell.net">Ken Tossell</author>
   <author email="rob@umd.edu">Rob Thomson</author>
+  <author email="timo.roehling@fkie.fraunhofer.de">Timo Roehling</author>
+  <author email="preed@swri.org">P. J. Reed</author>
+  <maintainer email="swri-robotics@swri.org">Southwest Research Institute</maintainer>
 
   <license>BSD</license>
   <url type="website">http://ros.org/wiki/gpsd_client</url>

gpsd_client/src/client.cpp

@@ -59,7 +59,12 @@ class GPSDClient {
       if (!gps->waiting(1e6))
         return;
 
-      gps_data_t *p = gps->read();
+      // Read out all queued data and only act on the latest
+      gps_data_t* p = NULL;
+      while (gps->waiting(0))
+      {
+        p = gps->read();
+      }
 #else
       gps_data_t *p = gps->poll();
 #endif
@@ -148,7 +153,9 @@ class GPSDClient {
 #endif
       }
 
-#if GPSD_API_MAJOR_VERSION >= 10
+#if GPSD_API_MAJOR_VERSION >= 12
+      if ((p->fix.status & STATUS_GPS) && !(check_fix_by_variance && std::isnan(p->fix.epx))) {
+#elif GPSD_API_MAJOR_VERSION >= 10
       if ((p->fix.status & STATUS_FIX) && !(check_fix_by_variance && std::isnan(p->fix.epx))) {
 #else
       if ((p->status != STATUS_NO_FIX) && !(check_fix_by_variance && std::isnan(p->fix.epx))) {
@@ -157,9 +164,11 @@ class GPSDClient {
         status.status = 0; // FIXME: gpsmm puts its constants in the global
                            // namespace, so `GPSStatus::STATUS_FIX' is illegal.
 
-// STATUS_DGPS_FIX was removed in API version 6 but re-added afterward
+// STATUS_DGPS_FIX was removed in API version 6 but re-added afterward and next renamed since the version 12
 #if GPSD_API_MAJOR_VERSION != 6
-#if GPSD_API_MAJOR_VERSION >= 10
+#if GPSD_API_MAJOR_VERSION >= 12
+        if (p->fix.status & STATUS_DGPS)
+#elif GPSD_API_MAJOR_VERSION >= 10
         if (p->fix.status & STATUS_DGPS_FIX)
 #else
         if (p->status & STATUS_DGPS_FIX)
@@ -206,7 +215,7 @@ class GPSDClient {
 
         /* TODO: attitude */
       } else {
-        status.status = -1; // STATUS_NO_FIX
+        status.status = -1; // STATUS_NO_FIX or STATUS_UNK
       }
 
       fix.status = status;
@@ -242,15 +251,20 @@ class GPSDClient {
 #else
       switch (p->status) {
 #endif
+#if GPSD_API_MAJOR_VERSION >= 12
+        case STATUS_GPS:
+#else
         case STATUS_NO_FIX:
-          fix->status.status = -1; // NavSatStatus::STATUS_NO_FIX;
-          break;
-        case STATUS_FIX:
-          fix->status.status = 0; // NavSatStatus::STATUS_FIX;
+#endif
+          fix->status.status = 0; // NavSatStatus::STATUS_FIX or NavSatStatus::STATUS_GPS;
           break;
-// STATUS_DGPS_FIX was removed in API version 6 but re-added afterward
-#if GPSD_API_MAJOR_VERSION != 6 
+// STATUS_DGPS_FIX was removed in API version 6 but re-added afterward and next renamed since the version 12
+#if GPSD_API_MAJOR_VERSION != 6
+#if GPSD_API_MAJOR_VERSION >= 12
+        case STATUS_DGPS:
+#else
         case STATUS_DGPS_FIX:
+#endif
           fix->status.status = 2; // NavSatStatus::STATUS_GBAS_FIX;
           break;
 #endif