From 987eb5f56a63a013727277b61a973ebd272886bc Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Mon, 13 Dec 2021 15:00:36 -0800 Subject: [PATCH 1/2] Add NavSat messages Signed-off-by: Louise Poubel --- Migration.md | 10 +++++ proto/ignition/msgs/gps.proto | 1 + proto/ignition/msgs/gps_sensor.proto | 1 + proto/ignition/msgs/navsat.proto | 55 +++++++++++++++++++++++++ proto/ignition/msgs/navsat_sensor.proto | 53 ++++++++++++++++++++++++ proto/ignition/msgs/sensor.proto | 1 + 6 files changed, 121 insertions(+) create mode 100644 proto/ignition/msgs/navsat.proto create mode 100644 proto/ignition/msgs/navsat_sensor.proto diff --git a/Migration.md b/Migration.md index 089818df..2025606e 100644 --- a/Migration.md +++ b/Migration.md @@ -5,6 +5,16 @@ Deprecated code produces compile-time warnings. These warning serve as notification to users that their code should be upgraded. The next major release will remove the deprecated code. +## Ignition Msgs 8.1 to 8.2 + +### Modifications + +1. **gps.proto** + + Recommend the use of **navsat.proto** instead. The GPS message will be deprecated in the future. + +1. **gps_sensor.proto** + + Recommend the use of **navsat_sensor.proto** instead. The GPS message will be deprecated in the future. + ## Ignition Msgs 6.X to 7.X ### Removals diff --git a/proto/ignition/msgs/gps.proto b/proto/ignition/msgs/gps.proto index affd9d8d..cb9fb7dc 100644 --- a/proto/ignition/msgs/gps.proto +++ b/proto/ignition/msgs/gps.proto @@ -23,6 +23,7 @@ option java_outer_classname = "GPSProtos"; /// \ingroup ignition.msgs /// \interface GPS /// \brief Data from a GPS sensor +/// This message will be deprecated, use NavSat instead. import "ignition/msgs/header.proto"; diff --git a/proto/ignition/msgs/gps_sensor.proto b/proto/ignition/msgs/gps_sensor.proto index 086e17db..5ae01f12 100644 --- a/proto/ignition/msgs/gps_sensor.proto +++ b/proto/ignition/msgs/gps_sensor.proto @@ -23,6 +23,7 @@ option java_outer_classname = "Protos"; /// \ingroup ignition.msgs /// \interface GPSSensor /// \brief Information about a GPS sensor element +/// This message will be deprecated in favor of NavSat sensor. import "ignition/msgs/sensor_noise.proto"; import "ignition/msgs/header.proto"; diff --git a/proto/ignition/msgs/navsat.proto b/proto/ignition/msgs/navsat.proto new file mode 100644 index 00000000..3af7af83 --- /dev/null +++ b/proto/ignition/msgs/navsat.proto @@ -0,0 +1,55 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +syntax = "proto3"; +package ignition.msgs; +option java_package = "com.ignition.msgs"; +option java_outer_classname = "NavSatProtos"; + +/// \ingroup ignition.msgs +/// \interface NavSat +/// \brief Data from a NavSat sensor +/// This replaces the GPS message. + +import "ignition/msgs/header.proto"; + +message NavSat +{ + /// \brief Optional header data + Header header = 1; + + /// \brief Latitude in degrees + double latitude_deg = 2; + + /// \brief Longitude in degrees + double longitude_deg = 3; + + /// \brief Altitude in meters + double altitude = 4; + + /// \brief East velocity in the ENU frame, in m / s + double velocity_east = 5; + + /// \brief North velocity in the ENU frame, in m / s + double velocity_north = 6; + + /// \brief Up velocity in the ENU frame, in m / s + double velocity_up = 7; + + /// \brief ID of reference frame + string frame_id = 8; +} diff --git a/proto/ignition/msgs/navsat_sensor.proto b/proto/ignition/msgs/navsat_sensor.proto new file mode 100644 index 00000000..1b95eb84 --- /dev/null +++ b/proto/ignition/msgs/navsat_sensor.proto @@ -0,0 +1,53 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +syntax = "proto3"; +package ignition.msgs; +option java_package = "com.ignition.msgs"; +option java_outer_classname = "Protos"; + +/// \ingroup ignition.msgs +/// \interface NavSatSensor +/// \brief Information about a NavSat sensor +/// This replaces the GPS sensor message + +import "ignition/msgs/sensor_noise.proto"; +import "ignition/msgs/header.proto"; + +message NavSatSensor +{ + /// \brief Sensing information + message Sensing + { + /// \brief Horizontal noise + SensorNoise horizontal_noise = 1; + + /// \brief Vertical noise + SensorNoise vertical_noise = 2; + } + + /// \brief Optional header data + Header header = 1; + + /// \brief Position sensing. Consists of horizontal and vertical noise + /// properties + Sensing position = 2; + + /// \brief Velocity sensing. Consists of horizontal and vertical noise + /// properties + Sensing velocity = 3; +} diff --git a/proto/ignition/msgs/sensor.proto b/proto/ignition/msgs/sensor.proto index 321fcc93..d84ea58e 100644 --- a/proto/ignition/msgs/sensor.proto +++ b/proto/ignition/msgs/sensor.proto @@ -84,6 +84,7 @@ message Sensor LogicalCameraSensor logical_camera = 14; /// \brief Description of a gps sensor + /// TODO(chapulina) Migrate to NavSat GPSSensor gps = 15; /// \brief Description of an IMU sensor From ca3cd0fe01b5d2603c843ca47298c8633a784af7 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Thu, 16 Dec 2021 08:51:20 -0800 Subject: [PATCH 2/2] Protos Signed-off-by: Louise Poubel --- proto/ignition/msgs/navsat_sensor.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/proto/ignition/msgs/navsat_sensor.proto b/proto/ignition/msgs/navsat_sensor.proto index 1b95eb84..56c6f600 100644 --- a/proto/ignition/msgs/navsat_sensor.proto +++ b/proto/ignition/msgs/navsat_sensor.proto @@ -18,7 +18,7 @@ syntax = "proto3"; package ignition.msgs; option java_package = "com.ignition.msgs"; -option java_outer_classname = "Protos"; +option java_outer_classname = "NavSatSensorProtos"; /// \ingroup ignition.msgs /// \interface NavSatSensor