KumarRobotics · tomoaki399 · Nov 25, 2019 · Nov 25, 2019 · Nov 25, 2019 · Nov 25, 2019
diff --git a/README.md b/README.md
@@ -1,5 +1,5 @@
 # ublox
-The `ublox` package provides support for [u-blox](http://www.u-blox.com) GPS receivers. Only the _serial_ configuration of the driver is documented here, but TCP communication is also supported by the driver (untested).
+The `ublox` package provides support for [u-blox](http://www.u-blox.com) GPS receivers. Only the _serial_ configuration of the driver is documented here, but TCP/UDP communication is also supported by the driver (untested).
 
 The driver was originally written by Johannes Meyer. Changes made later are detailed in the version history below.
 

diff --git a/ublox/CHANGELOG.rst b/ublox/CHANGELOG.rst
@@ -2,6 +2,16 @@
 Changelog for package ublox
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.0 (2022-04-13)
+------------------
+
+2.0.0 (2020-10-13)
+------------------
+* Initial ROS 2 port to Dashing
+* Port the ublox package to ROS 2.
+* Start ROS 2 port by COLCON_IGNORE everything.
+* Contributors: Chao Qu, Chris Lalancette
+
 1.2.0 (2019-11-19)
 ------------------
 

diff --git a/ublox/CMakeLists.txt b/ublox/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(ublox)
-find_package(catkin REQUIRED)
-catkin_metapackage()
+find_package(ament_cmake REQUIRED)
+ament_package()
diff --git a/ublox/package.xml b/ublox/package.xml
@@ -1,19 +1,21 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>ublox</name>
-  <version>1.2.0</version>
+  <version>2.3.0</version>
   <description>Provides a ublox_gps node for u-blox GPS receivers, messages, and serialization packages for the binary UBX protocol.</description>
   <author>Johannes Meyer</author>
   <maintainer email="vmlane@alum.mit.edu">Veronica Lane</maintainer>
   <license>BSD</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
   <url>http://wiki.ros.org/ublox</url>
 
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <exec_depend>ublox_serialization</exec_depend>
+  <exec_depend>ublox_msgs</exec_depend>
+  <exec_depend>ublox_gps</exec_depend>
+
   <!-- The export tag contains other, unspecified, tags -->
   <export>
-      <rosdoc external="http://www.u-blox.com/en/product-resources"/>
-    <!-- You can specify that this package is a metapackage here: -->
-    <metapackage />
+    <build_type>ament_cmake</build_type>
   </export>
 </package>
diff --git a/ublox_gps/CHANGELOG.rst b/ublox_gps/CHANGELOG.rst
@@ -2,6 +2,130 @@
 Changelog for package ublox_gps
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.0 (2022-04-13)
+------------------
+* Revamp the building of the driver for modern ROS 2 practices.
+* Fix parameter declaration types. (`#146 <https://github.com/KumarRobotics/ublox/issues/146>`_)
+* Add the types to declared parameters. (`#141 <https://github.com/KumarRobotics/ublox/issues/141>`_)
+* Add UDP support (`#140 <https://github.com/KumarRobotics/ublox/issues/140>`_)
+* add Ublox ZED_F9P config (`#131 <https://github.com/KumarRobotics/ublox/issues/131>`_)
+* Fix warnings in launch.
+* [FEAT]: add launch and config directories to 'intall' package to avoid wrong launch location (`#125 <https://github.com/KumarRobotics/ublox/issues/125>`_)
+* Fix wrong variable name in launch (`#120 <https://github.com/KumarRobotics/ublox/issues/120>`_)
+* Contributors: CHAIWIT PHONKHEN, Chao Qu, Chris Lalancette, Daisuke Nishimatsu, Davidson Daniel Rojas Cediel, Kevin Hallenbeck
+
+2.0.0 (2020-10-13)
+------------------
+* Initial ROS 2 port to Dashing
+* Create publishers based on ROS parameters (`#1 <https://github.com/KumarRobotics/ublox/issues/1>`_)
+* Make sure to reset for survey-in mode.
+* Make sure to depend on tf2 properly.
+* Make sure to have package.xml depend on ament_cmake_ros
+* Fix getting RTCM ids and rates.
+* Increase the timeout for NavPVT messages during Survey-In config.
+* Configure the base more accurately.
+* Update rover configuration.
+* Create ROS 2 launch files.
+* Finish porting configs to ROS 2.
+* Fix heading output to comply with REP-103
+* Make ublox_gps composable.
+* Fixes pointed out by clang-tidy.
+* Rename rawDataStreamPa member variable to raw_data_stream_pa
+* Fix a bug for reads of zero size.
+* Re-enable logging in the AsyncWorker.
+* Switch a couple more catch blocks to const.
+* Remove -ggdb3 flag from CMakeLists.txt.
+* Fix a few bugs pointed out by valgrind.
+* Pass the logger down to the Gps level.
+* Minor cleanup in the gps code.
+* More fixes for declaring parameters.
+* Declare more parameters.
+* Declare more parameters correctly.
+* More fixes so that we get the correct rates.
+* More fixes around the codebase.
+* Mark constants as such.
+* Remove declareRosBoolean.
+* Update configuration files for ROS 2.
+* Port ublox_gps to ROS 2.
+* Start ROS 2 port by COLCON_IGNORE everything.
+* Split the main out into its own file.
+* Move spinning out of the constructor.
+* Cleanup includes in node.{hpp,cpp}.
+* Move HpPosRecProduct class to its own files.
+* Move HpgRefProduct class to its own files.
+* Move UbloxFirmware9 class to its own files.
+* Move UbloxFirmware8 class to its own files.
+* Move UbloxFirmware7 to its own files.
+* Move UbloxFirmware7Plus class to its own header file.
+* Move UbloxFirmware6 class to its own files.
+* Move UbloxFirmware class to its own files.
+* Move RawDataProduct class into its own files.
+* Move HpgRovProduct class to its own files.
+* Move AdrUdrProduct class into its own files.
+* Move TimProduct class into its own file.
+* Make the node handle a member variable of UbloxNode.
+* Remove the last uses of the global variable.
+* Pass the nodehandle into more methods.
+* Start passing the node into functions.
+* Declare a few more booleans.
+* Declare a lot more parameters.
+* Finish removing the "enable" map.
+* Move some more boolean parameters to declarations.
+* Declare more parameters.
+* Convert a few more parameters over to being declared.
+* Declare the config_on_startup flag.
+* Make dat/set a declared parameter.
+* Make sure to declare the sbas parameter.
+* Add in ROS2-like declare and get parameters.
+* Replace templated publish call with lambdas.
+* Make fix_status_service a member variable of UbloxFirmware.
+* Move fixFromString and modelFromString into node.cpp
+* Make gps a member variable of UbloxNode.
+* Add namespaces to component_interface and fts_product.hpp
+* Minor code improvements.
+* Move FixDiagnostic class to its own file.
+* Move UbloxTopicDiagnostic to its own file.
+* Make gnss a member variable of UbloxNode.
+* Move kNavSvInfoSubscribeRate into the base class that uses it.
+* Remove kSubscribeRate.
+* Move the kDefaultMeasRate to the class that needs it.
+* Remove kROSQueueSize constant.
+* Make rtcms a member variable of UbloxNode.
+* Switch to a structure for RTCMs.
+* Make freq_diag a member variable of UbloxNode.
+* Make updater a member variable of UbloxNode.
+* Make frame_id a member variable.
+* Make config_on_startup_flag a member variable.
+* Make meas_rate a member variable.
+* Make nav_rate a class variable.
+* Lots of small code updates throughout the GPS module.
+* Get rid of global 'debug' variable.
+* Move serialization into the ublox_serialization module.
+* More rearrangement of header files to make a more sane structure.
+* Move FTSProduct class into its own file.
+* UbloxNode is not a component.
+* Move ComponentInterface to its own file.
+* Remove the one static ros::Subscriber.
+* Remove last static advertiser.
+* Switch to const references for std::string where possible.
+* Switch to more idiomatic publisher initialization.
+* Switch the one use of tf to tf2.
+* Remove 'using namespace' uses.
+* Switch to non-boost asio.
+* Remove uses of 'new' throughout the codebase.
+* Remove the last of boost from node.cpp
+* Remove most of boost from node.cpp/.hpp.
+* Remove a bunch of boost from node.cpp
+* Remove more boost.
+* Remove boost from worker.hpp
+* Remove some uses of boost from async_worker.hpp
+* Fully de-boostify callback.hpp
+* Rearrange messages.
+* Switch out boost time and mutex for std
+* Remove trailing whitespace in all files.
+* Rename header files to have .hpp extension.
+* Contributors: Chao Qu, Chris Lalancette, Mabel Zhang
+
 1.2.0 (2019-11-19)
 ------------------
 * Add support for ZED-F9P new RELPOSNED message and provide heading output

diff --git a/ublox_gps/CMakeLists.txt b/ublox_gps/CMakeLists.txt
@@ -1,78 +1,113 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(ublox_gps)
-find_package(catkin REQUIRED COMPONENTS
-  tf
-  roscpp
-  roscpp_serialization
-  ublox_msgs
-  ublox_serialization
-  diagnostic_updater
-)
-
-catkin_package(
-    INCLUDE_DIRS include
-    LIBRARIES ${PROJECT_NAME}
-    CATKIN_DEPENDS tf roscpp ublox_msgs ublox_serialization)
-
-# include boost
-find_package(Boost REQUIRED COMPONENTS system regex thread)
-link_directories(${Boost_LIBRARY_DIR})
-include_directories(${Boost_INCLUDE_DIR})
-
-# include other ublox packages
-include_directories(${PROJECT_SOURCE_DIR}/include)
-include_directories(${catkin_INCLUDE_DIRS})
 
-# link pthread
-SET(CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -std=c++11 -pthread")
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
+
+find_package(ament_cmake_ros REQUIRED)
+find_package(asio REQUIRED)
+find_package(diagnostic_msgs REQUIRED)
+find_package(diagnostic_updater REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nmea_msgs REQUIRED)
+find_package(rcl_interfaces REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(rtcm_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(ublox_msgs REQUIRED)
+find_package(ublox_serialization REQUIRED)
 
-# build library
-add_library(ublox_gps src/gps.cpp)
-
-# fix msg compile order bug
-add_dependencies(ublox_gps ${catkin_EXPORTED_TARGETS})
-
-target_link_libraries(ublox_gps
-  boost_system
-  boost_regex
-  boost_thread
+# build node
+add_library(ublox_gps
+  src/adr_udr_product.cpp
+  src/gnss.cpp
+  src/gps.cpp
+  src/hp_pos_rec_product.cpp
+  src/hpg_ref_product.cpp
+  src/hpg_rov_product.cpp
+  src/mkgmtime.c
+  src/node.cpp
+  src/raw_data_pa.cpp
+  src/raw_data_product.cpp
+  src/tim_product.cpp
+  src/ublox_firmware.cpp
+  src/ublox_firmware6.cpp
+  src/ublox_firmware7.cpp
+  src/ublox_firmware8.cpp
+  src/ublox_firmware9.cpp)
+target_include_directories(ublox_gps PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+  ${diagnostic_updater_INCLUDE_DIRS}
 )
-
-target_link_libraries(ublox_gps
-  ${catkin_LIBRARIES}
+target_link_libraries(ublox_gps PUBLIC
+  ${asio_LIBRARIES}
+  ${diagnostic_updater_LIBRARIES}
+  ${diagnostic_msgs_TARGETS}
+  ${geometry_msgs_TARGETS}
+  ${rcl_interfaces_TARGETS}
+  rclcpp::rclcpp
+  rclcpp_components::component
+  ${nmea_msgs_TARGETS}
+  ${rtcm_msgs_TARGETS}
+  ${sensor_msgs_TARGETS}
+  ${std_msgs_TARGETS}
+  ${std_srvs_TARGETS}
+  tf2::tf2
+  ${ublox_msgs_TARGETS}
+  ublox_serialization::ublox_serialization
 )
 
-# build node
-add_executable(ublox_gps_node src/node.cpp src/mkgmtime.c src/raw_data_pa.cpp)
-set_target_properties(ublox_gps_node PROPERTIES OUTPUT_NAME ublox_gps)
+install(TARGETS ublox_gps EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
 
-target_link_libraries(ublox_gps_node boost_system boost_regex boost_thread)
-target_link_libraries(ublox_gps_node ${catkin_LIBRARIES})
-target_link_libraries(ublox_gps_node ublox_gps)
+add_executable(ublox_gps_node src/node_main.cpp)
+target_link_libraries(ublox_gps_node PRIVATE
+  rclcpp::rclcpp
+  ublox_gps
+)
 
 # build logger node
-add_executable(ublox_logger_node src/logger_node_pa.cpp src/raw_data_pa.cpp)
-set_target_properties(ublox_logger_node PROPERTIES OUTPUT_NAME ublox_logger)
-
-target_link_libraries(ublox_logger_node ${catkin_LIBRARIES})
-
-install(TARGETS ublox_gps ublox_gps_node ublox_logger_node
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+add_executable(ublox_logger src/logger_node_pa.cpp src/raw_data_pa.cpp)
+target_link_libraries(ublox_logger PRIVATE
+  rclcpp::rclcpp
+  ${std_msgs_TARGETS}
+  ublox_gps
 )
 
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  PATTERN ".svn" EXCLUDE
+install(TARGETS
+  ublox_gps_node ublox_logger
+  DESTINATION lib/${PROJECT_NAME}
 )
 
-install(DIRECTORY config/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
-  PATTERN ".svn" EXCLUDE
+rclcpp_components_register_nodes(ublox_gps
+  "ublox_node::UbloxNode")
+
+install(DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
 )
 
-install(DIRECTORY launch/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
-  PATTERN ".svn" EXCLUDE
+install(
+  DIRECTORY launch config
+  DESTINATION share/${PROJECT_NAME}
 )
+
+ament_export_include_directories("include/${PROJECT_NAME}")
+ament_export_targets(export_${PROJECT_NAME})
+
+ament_package()
diff --git a/ublox_gps/cmake/Findasio.cmake b/ublox_gps/cmake/Findasio.cmake
@@ -0,0 +1,5 @@
+include(FindPackageHandleStandardArgs)
+
+find_path(ASIO_INCLUDE_DIR NAMES asio.hpp)
+find_package_handle_standard_args(asio DEFAULT_MSG ASIO_INCLUDE_DIR)
+mark_as_advanced(ASIO_INCLUDE_DIR)