separate messages from gnss_comm

gnss_comm/CMakeLists.txt

@@ -0,0 +1,41 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(gnss_comm)
+
+set(CMAKE_CXX_STANDARD 14)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  gnss_comm_msgs
+)
+
+
+catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES ${PROJECT_NAME}
+    CATKIN_DEPENDS roscpp gnss_comm_msgs
+    DEPENDS
+)
+
+set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
+find_package(Eigen3 REQUIRED)
+find_package(Glog REQUIRED)
+
+include_directories(${catkin_INCLUDE_DIRS} include)
+
+file(GLOB_RECURSE source_files ${PROJECT_SOURCE_DIR}/src/*.cpp)
+add_library(${PROJECT_NAME} ${source_files})
+target_include_directories(${PROJECT_NAME} PUBLIC ${EIGEN3_INCLUDE_DIR})
+
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${GLOG_LIBRARIES})
+add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
+
+install(DIRECTORY include/${PROJECT_NAME}/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+        FILES_MATCHING PATTERN "*.hpp")
+
+install(TARGETS ${PROJECT_NAME}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+

include/gnss_comm/gnss_ros.hpp → gnss_comm/include/gnss_comm/gnss_ros.hpp

@@ -22,94 +22,94 @@
 #define GNSS_ROS_HPP_
 
 #include <ros/ros.h>
-#include <gnss_comm/GnssTimeMsg.h>
-#include <gnss_comm/GnssEphemMsg.h>
-#include <gnss_comm/GnssGloEphemMsg.h>
-#include <gnss_comm/GnssObsMsg.h>
-#include <gnss_comm/GnssMeasMsg.h>
-#include <gnss_comm/GnssBestXYZMsg.h>
-#include <gnss_comm/GnssPVTSolnMsg.h>
-#include <gnss_comm/GnssSvsMsg.h>
-#include <gnss_comm/GnssTimePulseInfoMsg.h>
-#include <gnss_comm/StampedFloat64Array.h>
-
-#include "gnss_constant.hpp"
-#include "gnss_utility.hpp"
+#include <gnss_comm_msgs/GnssTimeMsg.h>
+#include <gnss_comm_msgs/GnssEphemMsg.h>
+#include <gnss_comm_msgs/GnssGloEphemMsg.h>
+#include <gnss_comm_msgs/GnssObsMsg.h>
+#include <gnss_comm_msgs/GnssMeasMsg.h>
+#include <gnss_comm_msgs/GnssBestXYZMsg.h>
+#include <gnss_comm_msgs/GnssPVTSolnMsg.h>
+#include <gnss_comm_msgs/GnssSvsMsg.h>
+#include <gnss_comm_msgs/GnssTimePulseInfoMsg.h>
+#include <gnss_comm_msgs/StampedFloat64Array.h>
+
+#include "gnss_comm/gnss_constant.hpp"
+#include "gnss_comm/gnss_utility.hpp"
 
 namespace gnss_comm
 {
     /* convert Ephem struct to ros message ---------------------------------------
     * args   : Ephem &  ephem      I   Ephemeris
     * return : cooresponding ephemeris message
     *-----------------------------------------------------------------------------*/
-    GnssEphemMsg ephem2msg(const EphemPtr &ephem_ptr);
+    gnss_comm_msgs::GnssEphemMsg ephem2msg(const EphemPtr &ephem_ptr);
 
     /* parse Ephem struct from ros message ----------------------------------------------
     * args   : GnssEphemConstPtr &  gnss_ephem_msg  I   Ephemeris ros message
     * return : cooresponding ephemeris struct
     *-----------------------------------------------------------------------------------*/
-    EphemPtr msg2ephem(const GnssEphemMsgConstPtr &gnss_ephem_msg);
+    EphemPtr msg2ephem(const gnss_comm_msgs::GnssEphemMsgConstPtr &gnss_ephem_msg);
 
     /* convert GloEphem struct to ros message ---------------------------------------
     * args   : GloEphem &  glo_ephem      I   GLONASS Ephemeris
     * return : cooresponding ephemeris message
     *-----------------------------------------------------------------------------*/
-    GnssGloEphemMsg glo_ephem2msg(const GloEphemPtr &glo_ephem_ptr);
+    gnss_comm_msgs::GnssGloEphemMsg glo_ephem2msg(const GloEphemPtr &glo_ephem_ptr);
 
     /* parse GloEphem struct from ros message ----------------------------------------------
     * args   : GnssGloEphemConstPtr & gnss_glo_ephem_msg  I   GLONASS Ephemeris ros message
     * return : cooresponding GLONASS ephemeris struct
     *--------------------------------------------------------------------------------------*/
-    GloEphemPtr msg2glo_ephem(const GnssGloEphemMsgConstPtr &gnss_glo_ephem_msg);
+    GloEphemPtr msg2glo_ephem(const gnss_comm_msgs::GnssGloEphemMsgConstPtr &gnss_glo_ephem_msg);
 
     /* convert GNSS measurements to ros message ----------------------------------
     * args   : std::vector<ObsPtr> & meas      I   GNSS measurements
     * return : cooresponding GNSS measurement message
     *-----------------------------------------------------------------------------*/
-    GnssMeasMsg meas2msg(const std::vector<ObsPtr> &meas);
+    gnss_comm_msgs::GnssMeasMsg meas2msg(const std::vector<ObsPtr> &meas);
 
     /* parse GNSS measurements from ros message ----------------------------------
     * args   : GnssMeasConstPtr & gnss_meas_msg      I   GNSS measurement message
     * return : cooresponding GNSS measurements
     *-----------------------------------------------------------------------------*/
-    std::vector<ObsPtr> msg2meas(const GnssMeasMsgConstPtr &gnss_meas_msg);
+    std::vector<ObsPtr> msg2meas(const gnss_comm_msgs::GnssMeasMsgConstPtr &gnss_meas_msg);
 
     /* convert GNSS time pulse information to ros message ----------------------------------
     * args   : TimePulseInfoPtr tp_info      I   GNSS time pulse information
     * return : cooresponding GNSS time pulse information message
     *-----------------------------------------------------------------------------*/
-    GnssTimePulseInfoMsg tp_info2msg(const TimePulseInfoPtr &tp_info);
+    gnss_comm_msgs::GnssTimePulseInfoMsg tp_info2msg(const TimePulseInfoPtr &tp_info);
 
     /* parse GNSS time pulse information from ros message ---------------------------------
     * args   : GnssTimePulseInfoMsgConstPtr gnss_tp_info_msg   I   GNSS time pulse message
     * return : cooresponding GNSS time pulse information
     *-----------------------------------------------------------------------------*/
-    TimePulseInfoPtr msg2tp_info(const GnssTimePulseInfoMsgConstPtr &gnss_tp_info_msg);
+    TimePulseInfoPtr msg2tp_info(const gnss_comm_msgs::GnssTimePulseInfoMsgConstPtr &gnss_tp_info_msg);
 
     /* convert GNSS best estimated xyz to ros message ----------------------------
     * args   : BestXYZ & best_xyz      I   GNSS estimated xyz in ECEF
     * return : cooresponding GNSS best xyz message
     *-----------------------------------------------------------------------------*/
-    GnssBestXYZMsg best_xyz2msg(const BestXYZPtr &best_xyz);
+    gnss_comm_msgs::GnssBestXYZMsg best_xyz2msg(const BestXYZPtr &best_xyz);
 
     /* convert GNSS PVT solution to ros message -----------------------------------
     * args   : PVTSolutionPtr & pvt_soln      I   GNSS PVT solution
     * return : cooresponding GNSS PVT solution message
     *-----------------------------------------------------------------------------*/
-    GnssPVTSolnMsg pvt2msg(const PVTSolutionPtr &pvt_soln);
+    gnss_comm_msgs::GnssPVTSolnMsg pvt2msg(const PVTSolutionPtr &pvt_soln);
 
     /* parse GNSS PVT solution from ros message ---------------------------------
     * args   : GnssPVTSolnMsgConstPtr pvt_msg   I   GNSS PVT solution message
     * return : cooresponding GNSS PVT solution
     *-----------------------------------------------------------------------------*/
-    PVTSolutionPtr msg2pvt(const GnssPVTSolnMsgConstPtr &pvt_msg);
+    PVTSolutionPtr msg2pvt(const gnss_comm_msgs::GnssPVTSolnMsgConstPtr &pvt_msg);
 
     /* convert GNSS space vehicles' info to ros message ----------------------------
     * args   : std::vector<SvInfo> & svs      I   GNSS space vehicles' info
     * return : cooresponding GNSS space vehicle info message
     *-----------------------------------------------------------------------------*/
-    GnssSvsMsg svs2msg(const std::vector<SvInfo> &svs);
+    gnss_comm_msgs::GnssSvsMsg svs2msg(const std::vector<SvInfo> &svs);
 
 }   // namespace gnss_comm
 
-#endif
+#endif

gnss_comm/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>gnss_comm</name>
+  <version>1.0.0</version>
+  <description>Definitions and utility functions for GNSS</description>
+
+  <maintainer email="[email protected]">Marco Camurri</maintainer>
+  <maintainer email="[email protected]">Jonas Beuchert</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roscpp</depend>
+  <build_depend>rospy</build_depend>
+  <depend>gnss_comm_msgs</depend>
+
+  <exec_depend>rospy</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+  </export>
+</package>

src/gnss_ros.cpp → gnss_comm/src/gnss_ros.cpp

@@ -18,7 +18,9 @@
 * along with gnss_comm. If not, see <http://www.gnu.org/licenses/>.
 */
 
-#include "gnss_ros.hpp"
+#include "gnss_comm/gnss_ros.hpp"
+
+using namespace gnss_comm_msgs;
 
 namespace gnss_comm
 {
@@ -317,4 +319,4 @@ namespace gnss_comm
         }
         return svs_msg;
     }
-}   // namespace gnss_comm
+}   // namespace gnss_comm

src/gnss_spp.cpp → gnss_comm/src/gnss_spp.cpp

@@ -18,8 +18,8 @@
 * along with gnss_comm. If not, see <http://www.gnu.org/licenses/>.
 */
 
-#include "gnss_spp.hpp"
-#include "gnss_utility.hpp"
+#include "gnss_comm/gnss_spp.hpp"
+#include "gnss_comm/gnss_utility.hpp"
 #include <glog/logging.h>
 
 #define CUT_OFF_DEGREE 15.0
@@ -385,4 +385,4 @@ namespace gnss_comm
         result = xyzt_dot;
         return result;
     }
-}
+}

src/gnss_utility.cpp → gnss_comm/src/gnss_utility.cpp

@@ -29,7 +29,7 @@
 *         Copyright (c) 2007-2020, T. Takasu, All rights reserved.
 */
 
-#include "gnss_utility.hpp"
+#include "gnss_comm/gnss_utility.hpp"
 
 namespace gnss_comm
 {

src/rinex_helper.cpp → gnss_comm/src/rinex_helper.cpp

@@ -18,7 +18,7 @@
 * along with gnss_comm. If not, see <http://www.gnu.org/licenses/>.
 */
 
-#include "rinex_helper.hpp"
+#include "gnss_comm/rinex_helper.hpp"
 
 namespace gnss_comm
 {

gnss_comm_msgs/CMakeLists.txt

@@ -0,0 +1,27 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(gnss_comm_msgs)
+
+find_package(catkin REQUIRED COMPONENTS
+  std_msgs
+  message_generation
+)
+
+add_message_files(FILES 
+    GnssTimeMsg.msg
+    GnssEphemMsg.msg
+    GnssGloEphemMsg.msg
+    GnssMeasMsg.msg
+    GnssObsMsg.msg
+    GnssBestXYZMsg.msg
+    GnssPVTSolnMsg.msg
+    GnssSvsMsg.msg
+    GnssTimePulseInfoMsg.msg
+    StampedFloat64Array.msg
+)
+
+generate_messages(DEPENDENCIES std_msgs)
+
+catkin_package(CATKIN_DEPENDS std_msgs message_runtime)
+
+
+