Added gps node

dependencies.sh

@@ -1,13 +1,31 @@
 #!/bin/bash
 
 set -euo pipefail
+ARCH=$(dpkg --print-architecture)
+VERSION_ID=$(grep '^VERSION_ID=' /etc/os-release | cut -d'=' -f2 | tr -d '"')
+MAVSDK_VERSION="3.14.0"
+
+echo "Architecture: $ARCH"
+echo "Version ID: $VERSION_ID"
 
 pkgs=(
     python3-colcon-common-extensions
     libgeographic-dev
     geographiclib-tools
+    wget
 )
 
 for pkg in "${pkgs[@]}"; do
+    echo "Installing $pkg"
     apt-get install -y "$pkg"
-done
+done
+
+echo "Installing MAVSDK version $MAVSDK_VERSION"
+if [[ "$ARCH" == "amd64" ]]; then
+    PACKAGE="libmavsdk-dev_${MAVSDK_VERSION}_ubuntu${VERSION_ID}_amd64.deb"
+else
+    PACKAGE="libmavsdk-dev_${MAVSDK_VERSION}_debian12_${ARCH}.deb"
+fi
+
+wget https://github.com/mavlink/MAVSDK/releases/download/v${MAVSDK_VERSION}/${PACKAGE}
+sudo dpkg -i ${PACKAGE}

src/simulation/launch/bridge.launch.py

@@ -3,26 +3,6 @@
 
 def generate_launch_description():
     return LaunchDescription([
-        Node(
-            package='ros_gz_bridge',
-            executable='parameter_bridge',
-            name='imu_bridge',
-            output='screen',
-            arguments=[
-                '/imu@sensor_msgs/msg/Imu[gz.msgs.IMU',
-            ],
-        ),
-
-        Node(
-            package='ros_gz_bridge',
-            executable='parameter_bridge',
-            name='gps_bridge',
-            output='screen',
-            arguments=[
-                '/gps/fix@sensor_msgs/msg/NavSatFix@gz.msgs.NavSat',
-            ],
-        ),
-
         Node(
             package='ros_gz_bridge',
             executable='parameter_bridge',

src/subsystems/navigation/athena_gps/CMakeLists.txt

@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 3.5)
+project(athena_gps)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(MAVSDK REQUIRED)
+add_executable(athena_gps src/PixhawkNode.cpp)
+
+install(
+  DIRECTORY config launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_target_dependencies(athena_gps
+        rclcpp
+        std_msgs
+        sensor_msgs
+)
+target_link_libraries(athena_gps
+        MAVSDK::mavsdk
+)
+install(TARGETS
+        athena_gps
+        DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

src/subsystems/navigation/athena_gps/config/pixhawk_params.yaml

@@ -0,0 +1,18 @@
+athena_gps:
+  ros__parameters:
+    usb_path: "serial:///dev/ttyACM0:57600"
+
+    imu_rate: 10.0
+    gps_info_rate: 1.0
+    attitude_rate: 10.0
+
+    imu_frame_id: "imu_link"
+    gps_frame_id: "gps_link"
+
+    imu_topic: "imu/data"
+    gps_topic: "gps/fix"
+    heading_topic: "heading"
+
+    mavsdk_system_id: 10
+    mavsdk_component_id: 1
+    mavsdk_always_send_heartbeats: false

src/subsystems/navigation/athena_gps/launch/gps_launch.py

@@ -0,0 +1,63 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition, UnlessCondition
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
+
+
+def generate_launch_description():
+
+    pkg_dir = get_package_share_directory('athena_gps')
+    config_file = os.path.join(pkg_dir, 'config', 'pixhawk_params.yaml')
+
+    sim_arg = DeclareLaunchArgument(
+        'sim',
+        default_value='false',
+        choices=['true', 'false'],
+        description='Use simulation bridge instead of real hardware'
+    )
+
+    pixhawk_node = Node(
+        package='athena_gps',
+        executable='athena_gps',
+        name='athena_gps',
+        output='screen',
+        parameters=[
+            config_file,
+        ],
+        respawn=True,
+        respawn_delay=2.0,
+        condition=UnlessCondition(LaunchConfiguration('sim'))
+    )
+
+    imu_bridge = Node(
+        package='ros_gz_bridge',
+        executable='parameter_bridge',
+        name='imu_bridge',
+        output='screen',
+        arguments=[
+            '/imu@sensor_msgs/msg/Imu[gz.msgs.IMU',
+        ],
+        condition=IfCondition(LaunchConfiguration('sim'))
+    )
+
+    gps_bridge = Node(
+        package='ros_gz_bridge',
+        executable='parameter_bridge',
+        name='gps_bridge',
+        output='screen',
+        arguments=[
+            '/gps/fix@sensor_msgs/msg/NavSatFix@gz.msgs.NavSat',
+        ],
+        condition=IfCondition(LaunchConfiguration('sim'))
+    )
+
+
+    return LaunchDescription([
+        sim_arg,
+        pixhawk_node,
+        imu_bridge,
+        gps_bridge,
+    ])

src/subsystems/navigation/athena_gps/package.xml

@@ -0,0 +1,22 @@
+<?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>athena_gps</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="mdurrani808@gmail.com">mdurrani</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>