Add NavSat (GPS) sensor (#177)

Signed-off-by: Dre Westcook <[email protected]>
Signed-off-by: Louise Poubel <[email protected]>
Signed-off-by: Ashton Larkin <[email protected]>

Co-authored-by: Dre Westcook <[email protected]>
Co-authored-by: Ashton Larkin <[email protected]>

CMakeLists.txt

@@ -75,7 +75,7 @@ endif()
 
 #--------------------------------------
 # Find ignition-msgs
-ign_find_package(ignition-msgs8 REQUIRED)
+ign_find_package(ignition-msgs8 REQUIRED VERSION 8.2)
 set(IGN_MSGS_VER ${ignition-msgs8_VERSION_MAJOR})
 
 #--------------------------------------

include/ignition/sensors/NavSatSensor.hh

@@ -0,0 +1,128 @@
+/*
+ * 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.
+ *
+*/
+#ifndef IGNITION_SENSORS_NAVSAT_HH_
+#define IGNITION_SENSORS_NAVSAT_HH_
+
+#include <memory>
+
+#include <ignition/common/SuppressWarning.hh>
+#include <sdf/Sensor.hh>
+
+#include "ignition/sensors/config.hh"
+#include "ignition/sensors/navsat/Export.hh"
+
+#include "ignition/sensors/Sensor.hh"
+
+namespace ignition
+{
+  namespace sensors
+  {
+    // Inline bracket to help doxygen filtering.
+    inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
+    //
+    /// \brief forward declarations
+    class NavSatPrivate;
+
+    /// \brief NavSat Sensor Class
+    ///
+    /// A sensor that reports position and velocity readings over
+    /// Ignition Transport using spherical coordinates (latitude / longitude).
+    ///
+    /// By default, it publishes `ignition::msgs::NavSat` messages on the
+    /// `/.../navsat` topic.
+    ///
+    /// This sensor assumes the world is using the East-North-Up (ENU) frame.
+    class IGNITION_SENSORS_NAVSAT_VISIBLE NavSatSensor : public Sensor
+    {
+      /// \brief Constructor
+      public: NavSatSensor();
+
+      /// \brief Destructor
+      public: virtual ~NavSatSensor();
+
+      /// \brief Load the sensor based on data from an sdf::Sensor object.
+      /// \param[in] _sdf SDF Sensor parameters.
+      /// \return true if loading was successful
+      public: virtual bool Load(const sdf::Sensor &_sdf) override;
+
+      /// \brief Load the sensor with SDF parameters.
+      /// \param[in] _sdf SDF Sensor parameters.
+      /// \return true if loading was successful
+      public: virtual bool Load(sdf::ElementPtr _sdf) override;
+
+      /// \brief Initialize values in the sensor
+      /// \return True on success
+      public: virtual bool Init() override;
+
+      /// \brief Update the sensor and generate data
+      /// \param[in] _now The current time
+      /// \return true if the update was successfull
+      public: virtual bool Update(
+        const std::chrono::steady_clock::duration &_now) override;
+
+      /// \brief Set the latitude of the NavSat
+      /// \param[in] _latitude Latitude of NavSat
+      public: void SetLatitude(const math::Angle &_latitude);
+
+      /// \brief Get the latitude of the NavSat, wrapped between +/- 180
+      /// degrees.
+      /// \return Latitude angle.
+      public: const math::Angle &Latitude() const;
+
+      /// \brief Set the longitude of the NavSat
+      /// \param[in] _longitude Longitude of NavSat
+      public: void SetLongitude(const math::Angle &_longitude);
+
+      /// \brief Get the longitude of the NavSat, wrapped between +/- 180
+      /// degrees.
+      /// \return Longitude angle.
+      public: const math::Angle &Longitude() const;
+
+      /// \brief Set the altitude of the NavSat
+      /// \param[in] _altitude altitude of NavSat in meters
+      public: void SetAltitude(double _altitude);
+
+      /// \brief Get NavSat altitude above sea level
+      /// \return Altitude in meters
+      public: double Altitude() const;
+
+      /// \brief Set the velocity of the NavSat in ENU world frame.
+      /// \param[in] _vel NavSat in meters per second.
+      public: void SetVelocity(const math::Vector3d &_vel);
+
+      /// \brief Get the velocity of the NavSat sensor in the ENU world frame.
+      /// \return Velocity in meters per second
+      public: const math::Vector3d &Velocity() const;
+
+      /// \brief Easy short hand for setting the position of the sensor.
+      /// \param[in] _latitude Latitude angle.
+      /// \param[in] _longitude Longitude angle.
+      /// \param[in] _altitude Altitude in meters; defaults to zero.
+      public: void SetPosition(const math::Angle &_latitude,
+          const math::Angle &_longitude, double _altitude = 0.0);
+
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
+      /// \brief Data pointer for private data
+      /// \internal
+      private: std::unique_ptr<NavSatPrivate> dataPtr;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
+    };
+    }
+  }
+}
+
+#endif

include/ignition/sensors/SensorTypes.hh

@@ -173,6 +173,22 @@ namespace ignition
       /// \sa ForceTorqueSensor
       TORQUE_Z_NOISE_N_M = 20,
 
+      /// \brief Noise streams for the NavSat position sensor
+      /// \sa NavSat
+      NAVSAT_HORIZONTAL_POSITION_NOISE = 21,
+
+      /// \brief Noise streams for the NavSat position sensor
+      /// \sa NavSat
+      NAVSAT_VERTICAL_POSITION_NOISE = 22,
+
+      /// \brief Noise streams for the NavSat velocity sensor
+      /// \sa NavSat
+      NAVSAT_HORIZONTAL_VELOCITY_NOISE = 23,
+
+      /// \brief Noise streams for the NavSat velocity sensor
+      /// \sa NavSat
+      NAVSAT_VERTICAL_VELOCITY_NOISE = 24,
+
       /// \internal
       /// \brief Indicator used to create an iterator over the enum. Do not
       /// use this.

src/CMakeLists.txt

@@ -120,6 +120,9 @@ ign_add_component(altimeter SOURCES ${altimeter_sources} GET_TARGET_NAME altimet
 set(air_pressure_sources AirPressureSensor.cc)
 ign_add_component(air_pressure SOURCES ${air_pressure_sources} GET_TARGET_NAME air_pressure_target)
 
+set(navsat_sources NavSatSensor.cc)
+ign_add_component(navsat SOURCES ${navsat_sources} GET_TARGET_NAME navsat_target)
+
 set(rgbd_camera_sources RgbdCameraSensor.cc)
 ign_add_component(rgbd_camera SOURCES ${rgbd_camera_sources} GET_TARGET_NAME rgbd_camera_target)
 target_compile_definitions(${rgbd_camera_target} PUBLIC RgbdCameraSensor_EXPORTS)