Add NavSat messages

Migration.md

@@ -5,6 +5,16 @@ Deprecated code produces compile-time warnings. These warning serve as
 notification to users that their code should be upgraded. The next major
 release will remove the deprecated code.
 
+## Ignition Msgs 8.1 to 8.2
+
+### Modifications
+
+1. **gps.proto**
+    + Recommend the use of **navsat.proto** instead. The GPS message will be deprecated in the future.
+
+1. **gps_sensor.proto**
+    + Recommend the use of **navsat_sensor.proto** instead. The GPS message will be deprecated in the future.
+
 ## Ignition Msgs 6.X to 7.X
 
 ### Removals

proto/ignition/msgs/gps.proto

@@ -23,6 +23,7 @@ option java_outer_classname = "GPSProtos";
 /// \ingroup ignition.msgs
 /// \interface GPS
 /// \brief Data from a GPS sensor
+/// This message will be deprecated, use NavSat instead.
 
 import "ignition/msgs/header.proto";
 

proto/ignition/msgs/gps_sensor.proto

@@ -23,6 +23,7 @@ option java_outer_classname = "Protos";
 /// \ingroup ignition.msgs
 /// \interface GPSSensor
 /// \brief Information about a GPS sensor element
+/// This message will be deprecated in favor of NavSat sensor.
 
 import "ignition/msgs/sensor_noise.proto";
 import "ignition/msgs/header.proto";

proto/ignition/msgs/navsat.proto

@@ -0,0 +1,55 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * 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.
+ *
+*/
+
+syntax = "proto3";
+package ignition.msgs;
+option java_package = "com.ignition.msgs";
+option java_outer_classname = "NavSatProtos";
+
+/// \ingroup ignition.msgs
+/// \interface NavSat
+/// \brief Data from a NavSat sensor
+/// This replaces the GPS message.
+
+import "ignition/msgs/header.proto";
+
+message NavSat
+{
+  /// \brief Optional header data
+  Header header                = 1;
+
+  /// \brief Latitude in degrees
+  double latitude_deg          = 2;
+
+  /// \brief Longitude in degrees
+  double longitude_deg         = 3;
+
+  /// \brief Altitude in meters
+  double altitude              = 4;
+
+  /// \brief East velocity in the ENU frame, in m / s
+  double velocity_east         = 5;
+
+  /// \brief North velocity in the ENU frame, in m / s
+  double velocity_north        = 6;
+
+  /// \brief Up velocity in the ENU frame, in m / s
+  double velocity_up           = 7;
+
+  /// \brief ID of reference frame
+  string frame_id              = 8;
+}

proto/ignition/msgs/navsat_sensor.proto

@@ -0,0 +1,53 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * 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.
+ *
+*/
+
+syntax = "proto3";
+package ignition.msgs;
+option java_package = "com.ignition.msgs";
+option java_outer_classname = "Protos";
+
+/// \ingroup ignition.msgs
+/// \interface NavSatSensor
+/// \brief Information about a NavSat sensor
+/// This replaces the GPS sensor message
+
+import "ignition/msgs/sensor_noise.proto";
+import "ignition/msgs/header.proto";
+
+message NavSatSensor
+{
+  /// \brief Sensing information
+  message Sensing
+  {
+    /// \brief Horizontal noise
+    SensorNoise horizontal_noise = 1;
+
+    /// \brief Vertical noise
+    SensorNoise vertical_noise   = 2;
+  }
+
+  /// \brief Optional header data
+  Header header    = 1;
+
+  /// \brief Position sensing. Consists of horizontal and vertical noise
+  /// properties
+  Sensing position = 2;
+
+  /// \brief Velocity sensing. Consists of horizontal and vertical noise
+  /// properties
+  Sensing velocity = 3;
+}

proto/ignition/msgs/sensor.proto

@@ -84,6 +84,7 @@ message Sensor
   LogicalCameraSensor logical_camera = 14;
 
   /// \brief Description of a gps sensor
+  /// TODO(chapulina) Migrate to NavSat
   GPSSensor gps          = 15;
 
   /// \brief Description of an IMU sensor