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Add GPSBroadcaster (#1554)
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‎doc/controllers_index.rst‎

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@@ -74,7 +74,7 @@ In the sense of ros2_control, broadcasters are still controllers using the same
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Joint State Broadcaster <../joint_state_broadcaster/doc/userdoc.rst>
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Range Sensor Broadcaster <../range_sensor_broadcaster/doc/userdoc.rst>
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Pose Broadcaster <../pose_broadcaster/doc/userdoc.rst>
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GPS Sensor Broadcaster <../gps_sensor_broadcaster/doc/userdoc.rst>
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Common Controller Parameters
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****************************

‎gps_sensor_broadcaster/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.16)
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project(gps_sensor_broadcaster LANGUAGES CXX)
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find_package(ros2_control_cmake REQUIRED)
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set_compiler_options()
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export_windows_symbols()
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# using this instead of visibility macros
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# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
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set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
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set(THIS_PACKAGE_INCLUDE_DEPENDS
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controller_interface
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generate_parameter_library
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hardware_interface
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pluginlib
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rclcpp
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rclcpp_lifecycle
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realtime_tools
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sensor_msgs
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)
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find_package(ament_cmake REQUIRED)
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foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
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find_package(${Dependency} REQUIRED)
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endforeach()
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generate_parameter_library(gps_sensor_broadcaster_parameters
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src/gps_sensor_broadcaster_parameters.yaml
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)
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add_library(gps_sensor_broadcaster SHARED
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src/gps_sensor_broadcaster.cpp
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)
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target_compile_features(gps_sensor_broadcaster PUBLIC cxx_std_17)
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target_include_directories(gps_sensor_broadcaster PUBLIC
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$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include/gps_sensor_broadcaster>
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)
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target_link_libraries(gps_sensor_broadcaster PUBLIC gps_sensor_broadcaster_parameters)
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ament_target_dependencies(gps_sensor_broadcaster PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
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pluginlib_export_plugin_description_file(
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controller_interface gps_sensor_broadcaster.xml)
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if(BUILD_TESTING)
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find_package(ament_cmake_gmock REQUIRED)
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find_package(controller_manager REQUIRED)
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find_package(hardware_interface REQUIRED)
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find_package(ros2_control_test_assets REQUIRED)
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add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
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ament_add_gmock(test_load_gps_sensor_broadcaster
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test/test_load_gps_sensor_broadcaster.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/test/gps_sensor_broadcaster_params.yaml)
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target_include_directories(test_load_gps_sensor_broadcaster PRIVATE include)
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target_link_libraries(test_load_gps_sensor_broadcaster
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gps_sensor_broadcaster
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)
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ament_target_dependencies(test_load_gps_sensor_broadcaster
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controller_manager
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hardware_interface
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ros2_control_test_assets
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)
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ament_add_gmock(test_gps_sensor_broadcaster
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test/test_gps_sensor_broadcaster.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/test/gps_sensor_broadcaster_params.yaml)
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target_include_directories(test_gps_sensor_broadcaster PRIVATE include)
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target_link_libraries(test_gps_sensor_broadcaster
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gps_sensor_broadcaster
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)
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ament_target_dependencies(test_gps_sensor_broadcaster
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hardware_interface
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ros2_control_test_assets
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)
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endif()
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install(
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DIRECTORY include/
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DESTINATION include/gps_sensor_broadcaster
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)
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install(
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TARGETS
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gps_sensor_broadcaster
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gps_sensor_broadcaster_parameters
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EXPORT export_gps_sensor_broadcaster
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RUNTIME DESTINATION bin
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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INCLUDES DESTINATION include
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)
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ament_export_targets(export_gps_sensor_broadcaster HAS_LIBRARY_TARGET)
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ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
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ament_package()

‎gps_sensor_broadcaster/README.md‎

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gps_sensor_broadcaster
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==========================================
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Controller to publish readings of GPS sensors.
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Pluginlib-Library: gps_sensor_broadcaster
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Plugin: gps_sensor_broadcaster/GPSSensorBroadcaster (controller_interface::ControllerInterface)

‎gps_sensor_broadcaster/doc/userdoc.rst‎

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:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/gps_sensor_broadcaster/doc/userdoc.rst
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.. _gps_sensor_broadcaster_userdoc:
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GPS Sensor Broadcaster
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--------------------------------
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Broadcaster of messages from GPS sensor.
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The published message type is ``sensor_msgs/msg/NavSatFix``.
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The controller is a wrapper around ``GPSSensor`` semantic component (see ``controller_interface`` package).
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Parameters
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^^^^^^^^^^^
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This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters. The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/gps_sensor_broadcaster/src/gps_sensor_broadcaster_params.yaml>`_ contains descriptions for all the parameters used by the controller.
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List of parameters
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=========================
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.. generate_parameter_library_details:: ../src/gps_sensor_broadcaster_parameters.yaml
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An example parameter file
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=========================
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An example parameter file for this controller can be found in `the test directory <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/gps_sensor_broadcaster/test/gps_sensor_broadcaster_params.yaml>`_:
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.. literalinclude:: ../test/gps_sensor_broadcaster_params.yaml
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:language: yaml

‎gps_sensor_broadcaster/gps_sensor_broadcaster.xml‎

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<library path="gps_sensor_broadcaster">
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<class name="gps_sensor_broadcaster/GPSSensorBroadcaster"
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type="gps_sensor_broadcaster::GPSSensorBroadcaster" base_class_type="controller_interface::ControllerInterface">
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<description>
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This controller publishes the readings of an GPS sensor as sensor_msgs/NavSatFix message.
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</description>
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</class>
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</library>

‎gps_sensor_broadcaster/include/gps_sensor_broadcaster/gps_sensor_broadcaster.hpp‎

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// Copyright 2025 ros2_control development team
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/*
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* Authors: Wiktor Bajor, Jakub Delicat
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*/
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#ifndef GPS_SENSOR_BROADCASTER__GPS_SENSOR_BROADCASTER_HPP_
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#define GPS_SENSOR_BROADCASTER__GPS_SENSOR_BROADCASTER_HPP_
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#include <memory>
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#include <string>
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#include <variant>
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#include <vector>
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#include "controller_interface/controller_interface.hpp"
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#include "gps_sensor_broadcaster/gps_sensor_broadcaster_parameters.hpp"
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#include "rclcpp_lifecycle/state.hpp"
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#include "realtime_tools/realtime_publisher.hpp"
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#include "semantic_components/gps_sensor.hpp"
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#include "sensor_msgs/msg/nav_sat_fix.hpp"
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namespace gps_sensor_broadcaster
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{
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using callback_return_type =
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rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
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class GPSSensorBroadcaster : public controller_interface::ControllerInterface
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{
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public:
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controller_interface::InterfaceConfiguration command_interface_configuration() const override;
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controller_interface::InterfaceConfiguration state_interface_configuration() const override;
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callback_return_type on_init() override;
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callback_return_type on_configure(const rclcpp_lifecycle::State & previous_state) override;
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callback_return_type on_activate(const rclcpp_lifecycle::State & previous_state) override;
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callback_return_type on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
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controller_interface::return_type update(const rclcpp::Time &, const rclcpp::Duration &) override;
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protected:
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using GPSSensorOption = semantic_components::GPSSensorOption;
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using GPSSensorVariant = std::variant<
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std::monostate, semantic_components::GPSSensor<GPSSensorOption::WithCovariance>,
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semantic_components::GPSSensor<GPSSensorOption::WithoutCovariance>>;
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using StatePublisher = realtime_tools::RealtimePublisher<sensor_msgs::msg::NavSatFix>;
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void setup_covariance();
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callback_return_type setup_publisher();
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GPSSensorVariant gps_sensor_;
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rclcpp::Publisher<sensor_msgs::msg::NavSatFix>::SharedPtr sensor_state_publisher_;
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std::unique_ptr<StatePublisher> realtime_publisher_;
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std::shared_ptr<gps_sensor_broadcaster::ParamListener> param_listener_{};
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gps_sensor_broadcaster::Params params_;
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std::vector<std::string> state_names_;
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};
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} // namespace gps_sensor_broadcaster
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#endif // GPS_SENSOR_BROADCASTER__GPS_SENSOR_BROADCASTER_HPP_

‎gps_sensor_broadcaster/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>gps_sensor_broadcaster</name>
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<version>4.20.0</version>
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<description>Controller to publish readings of GPS sensors.</description>
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<license>Apache License 2.0</license>
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<maintainer email="[email protected]">Bence Magyar</maintainer>
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<maintainer email="[email protected]">Denis Štogl</maintainer>
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<maintainer email="[email protected]">Christoph Froehlich</maintainer>
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<maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
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<author email="[email protected]">Wiktor Bajor</author>
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<author email="[email protected]">Jakub Delicat</author>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>ros2_control_cmake</build_depend>
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<depend>controller_interface</depend>
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<depend>generate_parameter_library</depend>
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<depend>hardware_interface</depend>
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<depend>pluginlib</depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_lifecycle</depend>
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<depend>realtime_tools</depend>
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<depend>sensor_msgs</depend>
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<test_depend>ament_cmake_gmock</test_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<test_depend>controller_manager</test_depend>
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<test_depend>ros2_control_test_assets</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

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