Develop ros2

[rsasaki0109]

for v1.7.3

jazzy support

[windsurf-bot]

Other comments (2)

• eagleye_util/gnss_converter/src/gnss_converter_node.cpp (111-111) The pvtgeodetic_callback function doesn't include accuracy validation like the navpvt_callback function does with s_acc. Consider adding a similar check for the Septentrio data to ensure accuracy requirements are met before processing.
• eagleye_core/coordinate/CMakeLists.txt (50-50) The GeographicLib include directory is being added in multiple places (include_directories(), target_include_directories(), and ament_export_include_directories()). This is redundant and can lead to confusion. Consider using only target_include_directories() with proper visibility specifiers as it's the modern CMake approach.

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[windsurf-bot]

Unlike other callback functions, pvtgeodetic_callback doesn't return early when nav_msg_ptr is nullptr. This could lead to publishing incomplete data. Consider adding an early return like in the other callbacks:

Suggested change

	void pvtgeodetic_callback(const septentrio_gnss_driver::msg::PVTGeodetic::ConstSharedPtr msg)
	{
	rtklib_msgs::msg::RtklibNav r;
	r.header.frame_id = "gps";
	r.header.stamp = msg->header.stamp;
	if (nav_msg_ptr != nullptr)
	void pvtgeodetic_callback(const septentrio_gnss_driver::msg::PVTGeodetic::ConstSharedPtr msg)
	{
	if (nav_msg_ptr == nullptr)
	{
	RCLCPP_WARN(rclcpp::get_logger(node_name),"nav_msg_ptr is nullptr");
	return;
	}
	rtklib_msgs::msg::RtklibNav r;

[windsurf-bot]

The publisher is using a hardcoded topic name "imu/data_tf_converted" instead of the publish_imu_topic_name parameter that was read earlier. This makes the parameter ineffective.

Suggested change

	pub_ = create_publisher<sensor_msgs::msg::Imu>("imu/data_tf_converted", rclcpp::QoS(10));
	pub_ = create_publisher<sensor_msgs::msg::Imu>(publish_imu_topic_name, rclcpp::QoS(10));

[windsurf-bot]

The ament_auto_find_build_dependencies() call is being removed and replaced with target_link_libraries(eagleye_navigation yaml-cpp). However, ament_auto_find_build_dependencies() does more than just linking libraries - it also sets up include directories and other build properties for all dependencies.

Consider keeping both lines to ensure all dependencies are properly configured:

Suggested change

	target_link_libraries(eagleye_navigation yaml-cpp)
	ament_auto_find_build_dependencies()
	target_link_libraries(eagleye_navigation yaml-cpp)