Add GPSBroadcaster

doc/controllers_index.rst

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

gps_sensor_broadcaster/CMakeLists.txt

@@ -0,0 +1,99 @@
+cmake_minimum_required(VERSION 3.16)
+project(gps_sensor_broadcaster LANGUAGES CXX)
+
+find_package(ros2_control_cmake REQUIRED)
+set_compiler_options()
+export_windows_symbols()
+
+# using this instead of visibility macros
+# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  controller_interface
+  generate_parameter_library
+  hardware_interface
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  realtime_tools
+  sensor_msgs
+)
+
+find_package(ament_cmake REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+
+generate_parameter_library(gps_sensor_broadcaster_parameters
+  src/gps_sensor_broadcaster_parameters.yaml
+)
+
+add_library(gps_sensor_broadcaster SHARED
+  src/gps_sensor_broadcaster.cpp
+)
+
+target_compile_features(gps_sensor_broadcaster PUBLIC cxx_std_17)
+target_include_directories(gps_sensor_broadcaster PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/gps_sensor_broadcaster>
+)
+
+target_link_libraries(gps_sensor_broadcaster PUBLIC gps_sensor_broadcaster_parameters)
+ament_target_dependencies(gps_sensor_broadcaster PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+
+pluginlib_export_plugin_description_file(
+  controller_interface gps_sensor_broadcaster.xml)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gmock REQUIRED)
+  find_package(controller_manager REQUIRED)
+  find_package(hardware_interface REQUIRED)
+  find_package(ros2_control_test_assets REQUIRED)
+
+  add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
+  ament_add_gmock(test_load_gps_sensor_broadcaster
+    test/test_load_gps_sensor_broadcaster.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/test/gps_sensor_broadcaster_params.yaml)
+  target_include_directories(test_load_gps_sensor_broadcaster PRIVATE include)
+  target_link_libraries(test_load_gps_sensor_broadcaster
+    gps_sensor_broadcaster
+  )
+  ament_target_dependencies(test_load_gps_sensor_broadcaster
+    controller_manager
+    hardware_interface
+    ros2_control_test_assets
+  )
+
+  ament_add_gmock(test_gps_sensor_broadcaster
+    test/test_gps_sensor_broadcaster.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/test/gps_sensor_broadcaster_params.yaml)
+  target_include_directories(test_gps_sensor_broadcaster PRIVATE include)
+  target_link_libraries(test_gps_sensor_broadcaster
+    gps_sensor_broadcaster
+  )
+  ament_target_dependencies(test_gps_sensor_broadcaster
+    hardware_interface
+    ros2_control_test_assets
+  )
+endif()
+
+install(
+  DIRECTORY include/
+  DESTINATION include/gps_sensor_broadcaster
+)
+install(
+  TARGETS
+    gps_sensor_broadcaster
+    gps_sensor_broadcaster_parameters
+  EXPORT export_gps_sensor_broadcaster
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  INCLUDES DESTINATION include
+)
+
+ament_export_targets(export_gps_sensor_broadcaster HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()

gps_sensor_broadcaster/README.md

@@ -0,0 +1,8 @@
+gps_sensor_broadcaster
+==========================================
+
+Controller to publish readings of GPS sensors.
+
+Pluginlib-Library: gps_sensor_broadcaster
+
+Plugin: gps_sensor_broadcaster/GPSSensorBroadcaster (controller_interface::ControllerInterface)

gps_sensor_broadcaster/doc/userdoc.rst

@@ -0,0 +1,27 @@
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/gps_sensor_broadcaster/doc/userdoc.rst
+
+.. _gps_sensor_broadcaster_userdoc:
+
+GPS Sensor Broadcaster
+--------------------------------
+Broadcaster of messages from GPS sensor.
+The published message type is ``sensor_msgs/msg/NavSatFix``.
+
+The controller is a wrapper around ``GPSSensor`` semantic component (see ``controller_interface`` package).
+
+Parameters
+^^^^^^^^^^^
+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.
+
+List of parameters
+=========================
+.. generate_parameter_library_details:: ../src/gps_sensor_broadcaster_parameters.yaml
+
+
+An example parameter file
+=========================
+
+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>`_:
+
+.. literalinclude:: ../test/gps_sensor_broadcaster_params.yaml
+   :language: yaml

gps_sensor_broadcaster/gps_sensor_broadcaster.xml

@@ -0,0 +1,8 @@
+<library path="gps_sensor_broadcaster">
+  <class name="gps_sensor_broadcaster/GPSSensorBroadcaster"
+         type="gps_sensor_broadcaster::GPSSensorBroadcaster" base_class_type="controller_interface::ControllerInterface">
+  <description>
+	  This controller publishes the readings of an GPS sensor as sensor_msgs/NavSatFix message.
+  </description>
+  </class>
+</library>

gps_sensor_broadcaster/include/gps_sensor_broadcaster/gps_sensor_broadcaster.hpp

@@ -0,0 +1,69 @@
+// Copyright 2025 ros2_control development team
+//
+// 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.
+
+/*
+ * Authors: Wiktor Bajor, Jakub Delicat
+ */
+
+#ifndef GPS_SENSOR_BROADCASTER__GPS_SENSOR_BROADCASTER_HPP_
+#define GPS_SENSOR_BROADCASTER__GPS_SENSOR_BROADCASTER_HPP_
+
+#include <memory>
+#include <string>
+#include <variant>
+#include <vector>
+
+#include "controller_interface/controller_interface.hpp"
+#include "gps_sensor_broadcaster/gps_sensor_broadcaster_parameters.hpp"
+#include "rclcpp_lifecycle/state.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
+#include "semantic_components/gps_sensor.hpp"
+#include "sensor_msgs/msg/nav_sat_fix.hpp"
+
+namespace gps_sensor_broadcaster
+{
+using callback_return_type =
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+class GPSSensorBroadcaster : public controller_interface::ControllerInterface
+{
+public:
+  controller_interface::InterfaceConfiguration command_interface_configuration() const override;
+  controller_interface::InterfaceConfiguration state_interface_configuration() const override;
+  callback_return_type on_init() override;
+  callback_return_type on_configure(const rclcpp_lifecycle::State & previous_state) override;
+  callback_return_type on_activate(const rclcpp_lifecycle::State & previous_state) override;
+  callback_return_type on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
+  controller_interface::return_type update(const rclcpp::Time &, const rclcpp::Duration &) override;
+
+protected:
+  using GPSSensorOption = semantic_components::GPSSensorOption;
+  using GPSSensorVariant = std::variant<
+    std::monostate, semantic_components::GPSSensor<GPSSensorOption::WithCovariance>,
+    semantic_components::GPSSensor<GPSSensorOption::WithoutCovariance>>;
+  using StatePublisher = realtime_tools::RealtimePublisher<sensor_msgs::msg::NavSatFix>;
+
+  void setup_covariance();
+  callback_return_type setup_publisher();
+
+  GPSSensorVariant gps_sensor_;
+  rclcpp::Publisher<sensor_msgs::msg::NavSatFix>::SharedPtr sensor_state_publisher_;
+  std::unique_ptr<StatePublisher> realtime_publisher_;
+  std::shared_ptr<gps_sensor_broadcaster::ParamListener> param_listener_{};
+  gps_sensor_broadcaster::Params params_;
+  std::vector<std::string> state_names_;
+};
+
+}  // namespace gps_sensor_broadcaster
+
+#endif  // GPS_SENSOR_BROADCASTER__GPS_SENSOR_BROADCASTER_HPP_

gps_sensor_broadcaster/package.xml

@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>gps_sensor_broadcaster</name>
+  <version>4.20.0</version>
+  <description>Controller to publish readings of GPS sensors.</description>
+  <license>Apache License 2.0</license>
+
+  <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
+  <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>
+  <maintainer email="christoph.froehlich@ait.ac.at">Christoph Froehlich</maintainer>
+  <maintainer email="sai.kishor@pal-robotics.com">Sai Kishor Kothakota</maintainer>
+
+  <author email="wiktorbajor1@gmail.com">Wiktor Bajor</author>
+  <author email="delicat.kuba@gmail.com">Jakub Delicat</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>ros2_control_cmake</build_depend>
+
+  <depend>controller_interface</depend>
+  <depend>generate_parameter_library</depend>
+  <depend>hardware_interface</depend>
+  <depend>pluginlib</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>realtime_tools</depend>
+  <depend>sensor_msgs</depend>
+
+  <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>controller_manager</test_depend>
+  <test_depend>ros2_control_test_assets</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>