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Merged
rsasaki0109 merged 4 commits into from
Mar 26, 2026
Merged

Develop ros2 #356

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a527d20
Add eagleye.repos (#329)
rsasaki0109 Apr 7, 2024
b2a10bd
Add setentrio msgs for velocity source (#336)
rsasaki0109 Jul 22, 2024
28193d7
fix: improve Jazzy build compatibility
rsasaki0109 Mar 26, 2026
6a88f28
ci: remove llh_converter workaround from jazzy build
rsasaki0109 Mar 26, 2026
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45 changes: 43 additions & 2 deletions .github/workflows/build.yml
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Expand Up @@ -16,7 +16,7 @@ jobs:

steps:
- name: checkout
uses: actions/checkout@v1
uses: actions/checkout@v4
- name: rosdep update
run: |
apt-get update
Expand All @@ -41,4 +41,45 @@ jobs:
cd ~/eagleye/
source /opt/ros/humble/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-skip-building-tests
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-skip-building-tests

jazzy_build:
runs-on: ubuntu-24.04

container: ros:jazzy
services:
ros:
image: ros

defaults:
run:
shell: bash

steps:
- name: checkout
uses: actions/checkout@v4
- name: rosdep update
run: |
apt-get update
rosdep update
- name: Create Workspace
run: |
mkdir -p ~/eagleye/src/
cp -r "$(pwd)" ~/eagleye/src/
- name: Clone rtklib_msgs
run: |
cd ~/eagleye/src/
git clone https://github.com/MapIV/rtklib_ros_bridge.git -b ros2-v0.1.0
- name: Clone llh_converter
run: |
cd ~/eagleye/src/
git clone https://github.com/MapIV/llh_converter.git -b ros2
- name: Install GeographicLib
run: |
apt-get install -y libgeographiclib-dev geographiclib-tools geographiclib-doc
- name: Build
run: |
cd ~/eagleye/
source /opt/ros/jazzy/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-skip-building-tests
9 changes: 3 additions & 6 deletions README.md
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Expand Up @@ -40,18 +40,15 @@ Clone and Build MapIV's fork of [RTKLIB](https://github.com/MapIV/rtklib_ros_bri
cd $HOME/RTKLIB/lib/iers/gcc/
make
cd $HOME/RTKLIB/app/consapp
make
make

### ROS Packages

Clone and build the necessary packages for Eagleye. ([rtklib_ros_bridge](https://github.com/MapIV/rtklib_ros_bridge/tree/ros2-v0.1.0), [nmea_ros_bridge](https://github.com/MapIV/nmea_ros_bridge/tree/ros2-v0.1.0))

cd $HOME/catkin_ws/src
git clone https://github.com/MapIV/eagleye.git -b main-ros2 --recursive
git clone https://github.com/MapIV/rtklib_ros_bridge.git -b ros2-v0.1.0
git clone https://github.com/MapIV/llh_converter.git -b ros2
git clone https://github.com/MapIV/nmea_ros_bridge.git -b ros2-v0.1.0
git clone https://github.com/MapIV/gnss_compass_ros.git -b main-ros2
git clone https://github.com/MapIV/eagleye.git -b main-ros2
vcs import . < eagleye/eagleye.repos
sudo apt-get install -y libgeographic-dev geographiclib-tools geographiclib-doc
sudo geographiclib-get-geoids best
sudo mkdir /usr/share/GSIGEO
Expand Down
17 changes: 17 additions & 0 deletions eagleye.repos
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@@ -0,0 +1,17 @@
repositories:
rtklib_ros_bridge:
type: git
url: https://github.com/MapIV/rtklib_ros_bridge.git
version: ros2-v0.1.0
llh_converter:
type: git
url: https://github.com/MapIV/llh_converter.git
version: ros2
nmea_ros_bridge:
type: git
url: https://github.com/MapIV/nmea_ros_bridge.git
version: ros2-v0.1.0
gnss_compass_ros:
type: git
url: https://github.com/MapIV/gnss_compass_ros.git
version: main-ros2
15 changes: 8 additions & 7 deletions eagleye_core/coordinate/CMakeLists.txt
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Expand Up @@ -15,17 +15,17 @@ ament_auto_find_build_dependencies()

find_package(PkgConfig)
find_package(geodesy)

# GeographicLib
find_path(GeographicLib_INCLUDE_DIR GeographicLib/Config.h
PATH_SUFFIXES GeographicLib
)
set(GeographicLib_LIBRARIES
NAMES Geographic
)
find_library(GeographicLib_LIBRARIES NAMES Geographic GeographicLib)

include_directories(
include
${PROJECT_SOURCE_DIR}/include
${GeographicLib_INCLUDE_DIRS}
${GeographicLib_INCLUDE_DIR}
)
link_directories(
/usr/local/lib
Expand All @@ -47,11 +47,11 @@ ament_auto_add_library(eagleye_coordinate SHARED
include/eagleye_coordinate/eagleye_coordinate.hpp
)

ament_export_include_directories(include)
ament_export_include_directories(include ${GeographicLib_INCLUDE_DIR})
ament_target_dependencies(eagleye_coordinate)

target_link_libraries(eagleye_coordinate
Geographic
${GeographicLib_LIBRARIES}
)

install(
Expand All @@ -62,6 +62,7 @@ install(

target_include_directories(eagleye_coordinate
PUBLIC
${GeographicLib_INCLUDE_DIR}
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
Expand All @@ -86,4 +87,4 @@ if(BUILD_TESTING)
ament_lint_auto_find_test_dependencies()
endif()

ament_auto_package()
ament_auto_package()
1 change: 1 addition & 0 deletions eagleye_core/coordinate/package.xml
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Expand Up @@ -13,6 +13,7 @@
<build_depend>geodesy</build_depend>
<build_export_depend>rclcpp</build_export_depend>
<build_export_depend>geodesy</build_export_depend>
<depend>ament_index_cpp</depend>
<depend>eigen</depend>
<depend>geographic_info</depend>
<depend>geographic_msgs</depend>
Expand Down
3 changes: 2 additions & 1 deletion eagleye_core/navigation/CMakeLists.txt
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Expand Up @@ -23,6 +23,7 @@ endif()
find_package(ament_cmake_auto REQUIRED)
find_package(eagleye_coordinate REQUIRED)
find_package(PkgConfig REQUIRED)
find_package(yaml-cpp REQUIRED)

ament_auto_find_build_dependencies()

Expand Down Expand Up @@ -51,7 +52,7 @@ ament_auto_add_library(eagleye_navigation SHARED
include/eagleye_navigation/eagleye_navigation.hpp
)

ament_auto_find_build_dependencies()
target_link_libraries(eagleye_navigation yaml-cpp)
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@windsurf-bot windsurf-bot bot Mar 26, 2026

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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)


install(TARGETS eagleye_navigation
INCLUDES DESTINATION include
Expand Down
54 changes: 54 additions & 0 deletions eagleye_rt/CMakeLists.txt
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Expand Up @@ -41,14 +41,23 @@ ament_auto_add_executable(distance
ament_auto_add_executable(heading_interpolate
src/heading_interpolate_node.cpp
)
target_link_libraries(heading_interpolate
yaml-cpp
)

ament_auto_add_executable(heading
src/heading_node.cpp
)
target_link_libraries(heading
yaml-cpp
)

ament_auto_add_executable(height
src/height_node.cpp
)
target_link_libraries(height
yaml-cpp
)

ament_auto_add_executable(monitor
src/monitor_node.cpp
Expand All @@ -57,62 +66,107 @@ ament_auto_add_executable(monitor
ament_auto_add_executable(position_interpolate
src/position_interpolate_node.cpp
)
target_link_libraries(position_interpolate
yaml-cpp
)

ament_auto_add_executable(position
src/position_node.cpp
)
target_link_libraries(position
yaml-cpp
)

ament_auto_add_executable(slip_angle
src/slip_angle_node.cpp
)
target_link_libraries(slip_angle
yaml-cpp
)

ament_auto_add_executable(slip_coefficient
src/slip_coefficient_node.cpp
)
target_link_libraries(slip_coefficient
yaml-cpp
)

ament_auto_add_executable(enable_additional_rolling
src/enable_additional_rolling_node.cpp
)
target_link_libraries(enable_additional_rolling
yaml-cpp
)

ament_auto_add_executable(rolling
src/rolling_node.cpp
)
target_link_libraries(rolling
yaml-cpp
)

ament_auto_add_executable(smoothing
src/smoothing_node.cpp
)
target_link_libraries(smoothing
yaml-cpp
)

ament_auto_add_executable(trajectory
src/trajectory_node.cpp
)
target_link_libraries(trajectory
yaml-cpp
)

ament_auto_add_executable(velocity_scale_factor
src/velocity_scale_factor_node.cpp
)
target_link_libraries(velocity_scale_factor
yaml-cpp
)

ament_auto_add_executable(yaw_rate_offset
src/yaw_rate_offset_node.cpp
)
target_link_libraries(yaw_rate_offset
yaml-cpp
)

ament_auto_add_executable(yaw_rate_offset_stop
src/yaw_rate_offset_stop_node.cpp
)
target_link_libraries(yaw_rate_offset_stop
yaml-cpp
)

ament_auto_add_executable(angular_velocity_offset_stop
src/angular_velocity_offset_stop_node.cpp
)
target_link_libraries(angular_velocity_offset_stop
yaml-cpp
)

ament_auto_add_executable(rtk_dead_reckoning
src/rtk_dead_reckoning_node.cpp
)
target_link_libraries(rtk_dead_reckoning
yaml-cpp
)

ament_auto_add_executable(rtk_heading
src/rtk_heading_node.cpp
)
target_link_libraries(rtk_heading
yaml-cpp
)

ament_auto_add_executable(velocity_estimator
src/velocity_estimator_node.cpp
)
target_link_libraries(velocity_estimator
yaml-cpp
)

install(TARGETS
tf_converted_imu
Expand Down
2 changes: 1 addition & 1 deletion eagleye_rt/config/README.md
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Expand Up @@ -17,7 +17,7 @@ The parameters for estimation in Eagleye can be set in the `config/eagleye_confi
| imu_topic | string | Topic name to be subscribed to in node (sensor_msgs/Imu.msg) | /imu/data_raw |
| twist.twist_type | int | Topic type to be subscribed to in node (TwistStamped : 0, TwistWithCovarianceStamped: 1) | 0 |
| twist.twist_topic | string | Topic name to be subscribed to in node | /can_twist |
| gnss.velocity_source_type | int | Topic type to be subscribed to in node (rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3) | 0 |
| gnss.velocity_source_type | int | Topic type to be subscribed to in node (rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3, septentrio_gnss_driver/PVTGeodetic: 4) | 0 |
| gnss.velocity_source_topic | string | Topic name to be subscribed to in node | /rtklib_nav |
| gnss.llh_source_type | int | Topic type to be subscribed to in node (rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2) | 0 |
| gnss.llh_source_topic | string | Topic name to be subscribed to in node | /rtklib_nav |
Expand Down
2 changes: 1 addition & 1 deletion eagleye_rt/config/eagleye_config.yaml
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Expand Up @@ -10,7 +10,7 @@
twist_topic: /can_twist
imu_topic: /imu/data_raw
gnss:
velocity_source_type: 0 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3
velocity_source_type: 0 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3, septentrio_gnss_driver/PVTGeodetic: 4
velocity_source_topic: /rtklib_nav
llh_source_type: 0 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2
llh_source_topic: /rtklib_nav
Expand Down
1 change: 1 addition & 0 deletions eagleye_rt/package.xml
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Expand Up @@ -23,6 +23,7 @@
<depend>eagleye_msgs</depend>
<depend>eagleye_coordinate</depend>
<depend>eagleye_navigation</depend>
<depend>eagleye_tf</depend>
<depend>diagnostic_updater</depend>
<depend>tf2</depend>
<depend>tf2_ros</depend>
Expand Down
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