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Add NavSat messages #206

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Jan 4, 2022
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10 changes: 10 additions & 0 deletions Migration.md
Original file line number Diff line number Diff line change
Expand Up @@ -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
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1 change: 1 addition & 0 deletions proto/ignition/msgs/gps.proto
Original file line number Diff line number Diff line change
Expand Up @@ -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";

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1 change: 1 addition & 0 deletions proto/ignition/msgs/gps_sensor.proto
Original file line number Diff line number Diff line change
Expand Up @@ -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";
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55 changes: 55 additions & 0 deletions proto/ignition/msgs/navsat.proto
Original file line number Diff line number Diff line change
@@ -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;
}
53 changes: 53 additions & 0 deletions proto/ignition/msgs/navsat_sensor.proto
Original file line number Diff line number Diff line change
@@ -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 = "NavSatSensorProtos";

/// \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;
}
1 change: 1 addition & 0 deletions proto/ignition/msgs/sensor.proto
Original file line number Diff line number Diff line change
Expand Up @@ -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
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