Add antenna (#50)

* Add pre commit

* Add external antenna

* Rename extenal antena -> teltonika

* Set GPS uptade rate to 1Hz

* Add ns to tf frame

* Update name

* Mounting point

.github/workflows/colcon_test_build.yaml

@@ -1,3 +1,4 @@
+---
 name: ROS2 test build
 
 on:

.pre-commit-config.yaml

@@ -0,0 +1,121 @@
+---
+repos:
+    # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+      - id: check-added-large-files
+        # mesh files has to be taken into account
+        args: [--maxkb=3000]
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: fix-byte-order-marker
+      - id: name-tests-test
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+
+    # Python hooks
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.15.2
+    hooks:
+      - id: pyupgrade
+        args: [--py36-plus]
+
+  - repo: https://github.com/psf/black
+    rev: 24.4.2
+    hooks:
+      - id: black
+        args: [--line-length=99]
+
+  - repo: https://github.com/PyCQA/flake8
+    rev: 7.0.0
+    hooks:
+      - id: flake8
+        args: ['--ignore=E501,W503']     # ignore too long line and line break before binary operator,
+          # black checks it
+
+  - repo: https://github.com/PyCQA/isort
+    rev: 5.13.2
+    hooks:
+      - id: isort
+        args: [--profile, black]
+
+    # CPP hooks
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v18.1.5
+    hooks:
+      - id: clang-format
+
+  - repo: local
+    hooks:
+      - id: ament_cppcheck
+        name: ament_cppcheck
+        description: Static code analysis of C/C++ files.
+        entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+
+  - repo: local
+    hooks:
+      - id: ament_cpplint
+        name: ament_cpplint
+        description: Static code analysis of C/C++ files.
+        entry: ament_cpplint
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        args: [--linelength=100, --filter=-whitespace/newline]
+
+    # Cmake hooks
+  - repo: local
+    hooks:
+      - id: ament_lint_cmake
+        name: ament_lint_cmake
+        description: Check format of CMakeLists.txt files.
+        entry: ament_lint_cmake
+        language: system
+        files: CMakeLists\.txt$
+
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+      - id: cmake-format
+
+    # XML
+  - repo: https://github.com/tier4/pre-commit-hooks-ros
+    rev: v0.8.0
+    hooks:
+      - id: prettier-package-xml
+      - id: sort-package-xml
+
+    # YAML
+  - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
+    rev: 0.2.3
+    hooks:
+      - id: yamlfmt
+        files: ^(?!.*compose)(?!.*ekf\.yaml$).*$
+        args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
+
+    # Copyright
+  - repo: local
+    hooks:
+      - id: ament_copyright
+        name: ament_copyright
+        description: Check if copyright notice is available in all files.
+        entry: ament_copyright
+        language: system
+
+    # Spellcheck
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.6
+    hooks:
+      - id: codespell
+        args: [--write-changes, --uri-ignore-words-list=ist, -L manuel]
+        exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$

CMakeLists.txt

@@ -3,26 +3,27 @@ project(ros_components_description)
 
 find_package(ament_cmake REQUIRED)
 
-install(
-  DIRECTORY meshes urdf launch config test
-  DESTINATION share/${PROJECT_NAME}
-)
+install(DIRECTORY meshes urdf launch config test
+        DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
-  set(pytest_tests
-    test/test_components_xacro.py
-  )
+  set(pytest_tests test/test_components_xacro.py)
   foreach(test_path ${pytest_tests})
     get_filename_component(test_name ${test_path} NAME_WE)
-    ament_add_pytest_test(${test_name} ${test_path}
-      APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
-      TIMEOUT 60
-      WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-    )
+    ament_add_pytest_test(
+      ${test_name}
+      ${test_path}
+      APPEND_ENV
+      PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+      TIMEOUT
+      60
+      WORKING_DIRECTORY
+      ${CMAKE_SOURCE_DIR})
   endforeach()
 endif()
 
-ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.sh.in")
+ament_environment_hooks(
+  "${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.sh.in")
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()

LICENSE.txt

@@ -1,5 +1,5 @@
 ROS COMPONENTS DESCRIPTION PACKAGE LICENSING
-The default license for ROS components description package is the Apache License, Version 2.0 
-(see LICENSE_APACHE2.txt); you may elect at your option to use the ROS COMPONENTS DESCRIPTION 
-package under the MIT License (see LICENSE_MIT.txt).  Contributions must be 
+The default license for ROS components description package is the Apache License, Version 2.0
+(see LICENSE_APACHE2.txt); you may elect at your option to use the ROS COMPONENTS DESCRIPTION
+package under the MIT License (see LICENSE_MIT.txt).  Contributions must be
 made under both licenses.

config/gz_orbbec_astra_remappings.yaml

@@ -1,27 +1,27 @@
 ---
 # https://github.com/orbbec/OrbbecSDK_ROS2#all-available-topics
-- topic_name: <robot_namespace><device_namespace>/color/camera_info
-  ros_type_name: sensor_msgs/msg/CameraInfo
-  gz_type_name: ignition.msgs.CameraInfo
-  lazy: true
+  - topic_name: <robot_namespace><device_namespace>/color/camera_info
+    ros_type_name: sensor_msgs/msg/CameraInfo
+    gz_type_name: ignition.msgs.CameraInfo
+    lazy: true
 
-- topic_name: <robot_namespace><device_namespace>/color/image_raw
-  ros_type_name: sensor_msgs/msg/Image
-  gz_type_name: ignition.msgs.Image
-  lazy: true
+  - topic_name: <robot_namespace><device_namespace>/color/image_raw
+    ros_type_name: sensor_msgs/msg/Image
+    gz_type_name: ignition.msgs.Image
+    lazy: true
 
-- topic_name: <robot_namespace><device_namespace>/depth/camera_info
-  ros_type_name: sensor_msgs/msg/CameraInfo
-  gz_type_name: ignition.msgs.CameraInfo
-  lazy: true
+  - topic_name: <robot_namespace><device_namespace>/depth/camera_info
+    ros_type_name: sensor_msgs/msg/CameraInfo
+    gz_type_name: ignition.msgs.CameraInfo
+    lazy: true
 
-- topic_name: <robot_namespace><device_namespace>/depth/image_raw
-  ros_type_name: sensor_msgs/msg/Image
-  gz_type_name: ignition.msgs.Image
-  lazy: true
+  - topic_name: <robot_namespace><device_namespace>/depth/image_raw
+    ros_type_name: sensor_msgs/msg/Image
+    gz_type_name: ignition.msgs.Image
+    lazy: true
 
-- ros_topic_name: <robot_namespace><device_namespace>/depth/points
-  gz_topic_name: <robot_namespace><device_namespace>/depth/image_raw/points
-  ros_type_name: sensor_msgs/msg/PointCloud2
-  gz_type_name: ignition.msgs.PointCloudPacked
-  lazy: true
+  - ros_topic_name: <robot_namespace><device_namespace>/depth/points
+    gz_topic_name: <robot_namespace><device_namespace>/depth/image_raw/points
+    ros_type_name: sensor_msgs/msg/PointCloud2
+    gz_type_name: ignition.msgs.PointCloudPacked
+    lazy: true

config/gz_teltonika_remappings.yaml

@@ -0,0 +1,5 @@
+---
+  - topic_name: <robot_namespace><device_namespace>/fix
+    ros_type_name: sensor_msgs/msg/NavSatFix
+    gz_type_name: ignition.msgs.NavSat
+    direction: GZ_TO_ROS

config/kinova_6dof_controllers.yaml

@@ -1,3 +1,4 @@
+---
 /**:
   joint_trajectory_controller:
     ros__parameters:

config/kinova_7dof_controllers.yaml

@@ -1,3 +1,4 @@
+---
 /**:
   joint_trajectory_controller:
     ros__parameters:

config/robotiq_controllers.yaml

@@ -1,3 +1,4 @@
+---
 /**:
   robotiq_gripper_controller:
     ros__parameters:
@@ -10,4 +11,3 @@
     ros__parameters:
       default: true
       joint: robotiq_85_left_knuckle_joint
-

config/ur_controllers.yaml

@@ -1,3 +1,4 @@
+---
 /**:
   speed_scaling_state_broadcaster:
     ros__parameters:
@@ -38,12 +39,12 @@
       constraints:
         stopped_velocity_tolerance: 0.2
         goal_time: 0.0
-        shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
-        shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
-        elbow_joint: { trajectory: 0.2, goal: 0.1 }
-        wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
-        wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
-        wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
+        shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+        shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+        elbow_joint: {trajectory: 0.2, goal: 0.1}
+        wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+        wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+        wrist_3_joint: {trajectory: 0.2, goal: 0.1}
 
 
   scaled_joint_trajectory_controller:
@@ -66,12 +67,12 @@
       constraints:
         stopped_velocity_tolerance: 0.2
         goal_time: 0.0
-        shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
-        shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
-        elbow_joint: { trajectory: 0.2, goal: 0.1 }
-        wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
-        wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
-        wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
+        shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+        shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+        elbow_joint: {trajectory: 0.2, goal: 0.1}
+        wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+        wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+        wrist_3_joint: {trajectory: 0.2, goal: 0.1}
 
   forward_velocity_controller:
     ros__parameters:

env-hooks/ros_components_description.sh.in

@@ -1,3 +1,3 @@
 ament_prepend_unique_value GAZEBO_MODEL_PATH "@CMAKE_INSTALL_PREFIX@/share"
 ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "@CMAKE_INSTALL_PREFIX@/share"
-ament_prepend_unique_value IGN_GAZEBO_RESOURCE_PATH "@CMAKE_INSTALL_PREFIX@/share"
+ament_prepend_unique_value IGN_GAZEBO_RESOURCE_PATH "@CMAKE_INSTALL_PREFIX@/share"

launch/gz_components.launch.py

@@ -13,17 +13,18 @@
 # limitations under the License.
 
 import os
+
 import yaml
 from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
 from launch.actions import (
     DeclareLaunchArgument,
     IncludeLaunchDescription,
     OpaqueFunction,
 )
-
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, EnvironmentVariable
+from launch.substitutions import EnvironmentVariable, LaunchConfiguration
 
 
 def get_value(node: yaml.Node, key: str):
@@ -63,6 +64,7 @@ def get_launch_descriptions_from_yaml_node(
     actions = []
 
     components_types_with_names = {
+        "ANT02": "teltonika",
         "LDR01": "slamtec_rplidar",
         "LDR06": "slamtec_rplidar",
         "LDR10": "ouster_os",
@@ -109,11 +111,11 @@ def launch_setup(context, *args, **kwargs):
     if components_config_path == "None":
         return []
 
-    with open(os.path.join(components_config_path), 'r') as file:
+    with open(os.path.join(components_config_path)) as file:
         components_config = yaml.safe_load(file)
 
     actions = []
-    if components_config != None:
+    if components_config is not None:
         actions += get_launch_descriptions_from_yaml_node(
             components_config, ros_components_description, namespace
         )

launch/gz_kinova_6dof.launch.py

@@ -12,17 +12,18 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from nav2_common.launch import ReplaceString
+
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, OpaqueFunction
-from launch_ros.actions import Node
 from launch.substitutions import (
     EnvironmentVariable,
     LaunchConfiguration,
     PathJoinSubstitution,
     PythonExpression,
 )
-from launch_ros.substitutions import FindPackageShare
-from nav2_common.launch import ReplaceString
 
 
 # The frame of the point cloud from ignition gazebo 6 isn't provided by <frame_id>.

launch/gz_kinova_7dof.launch.py

@@ -12,17 +12,18 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from nav2_common.launch import ReplaceString
+
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, OpaqueFunction
-from launch_ros.actions import Node
 from launch.substitutions import (
     EnvironmentVariable,
     LaunchConfiguration,
     PathJoinSubstitution,
     PythonExpression,
 )
-from launch_ros.substitutions import FindPackageShare
-from nav2_common.launch import ReplaceString
 
 
 # The frame of the point cloud from ignition gazebo 6 isn't provided by <frame_id>.