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chore: add autoware_ prefix to the URL of gnss_poser #601

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Aug 30, 2024
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chore: add autoware_ prefix to the URL of gnss_poser #601

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3097951
Added autoware_ prefix to gnss_poser
TaikiYamada4 Aug 21, 2024
042c17a
Fixed typo
TaikiYamada4 Aug 22, 2024
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2 changes: 2 additions & 0 deletions docs/contributing/coding-guidelines/ros-nodes/directory-structure.md
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We'll use the package `autoware_gnss_poser` as an example.

**Note that this example does not reflect the actual `autoware_gnss_poser`, and has extra files and directories to demonstrate all posssible package structure.**

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## C++ package

### Entire structure
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6 changes: 3 additions & 3 deletions ...ating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md
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### sensor_kit.xacro

We will add our sensors and remove unnecessary xacros from this file.

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For example,
we want
to add our lidar sensor with `velodyne_top` frame from the sensor driver,
we will add the following xacro to our sensor_kit.xacro file.
Please add your sensors to this file and remove unnecessary sensor's xacros.

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```xml
<!-- lidar -->
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Then, you can launch tensorrt_yolo node via adding yolo.launch.xml on your design like that:
(i.e.,
it is included in [tier4_perception_launch](https://github.com/autowarefoundation/autoware.universe/blob/ad69c2851b7b84e12c9f0c3b177fb6a9032bf284/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml#L49-L59) package in autwoare.universe)

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`image_number` argument defines your camera number

```xml
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from launch.actions import OpaqueFunction
import yaml

def launch_setup(context, *args, **kwargs):

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output_topic= LaunchConfiguration("output_topic").perform(context)

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launch_arguments = []

def add_launch_arg(name: str, default_value=None, description=None):
# a default_value of None is equivalent to not passing that kwarg at all

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launch_arguments.append(
DeclareLaunchArgument(name, default_value=default_value, description=description)
)
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The default GNSS sensor options at [`sample_sensor_kit_launch`](https://github.com/autowarefoundation/sample_sensor_kit_launch/blob/main/sample_sensor_kit_launch/launch/gnss.launch.xml) for [u-blox](https://www.u-blox.com/en/)
and [septentrio](https://www.septentrio.com/en) is included in `gnss.launch.xml`,
so If we use other sensors as GNSS/INS receiver, we need to add it here.
Moreover, [gnss_poser](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/gnss_poser) package launches here,
Moreover, [gnss_poser](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/autoware_gnss_poser) package launches here,
we will use this package for the pose source of our vehicle at localization initialization but remember,
your sensor_driver must provide [autoware gnss orientation message](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_sensing_msgs/msg/GnssInsOrientationStamped.msg) for this node.
If you are ready with your GNSS/INS driver,
you must set `navsatfix_topic_name` and `orientation_topic_name` variables at this launch file for [gnss_poser](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/gnss_poser) arguments.
you must set `navsatfix_topic_name` and `orientation_topic_name` variables at this launch file for [gnss_poser](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/autoware_gnss_poser) arguments.
For Example, necessary modifications for <YOUR-GNSS-SENSOR> should be like this:

```diff
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Also, you can remove dependencies and unused sensor launch files at `gnss.launch.xml`.
For example,
we will use [Clap B7 sensor](https://en.unicorecomm.com/assets/upload/file/CLAP-B7_Product_Brief_En.pdf) as a GNSS/INS and IMU sensor,
and we will use [nrtip_client_ros](https://github.com/Robeff-Technology/ntrip_client) for RTK.

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Also, we will add these packages to [autoware.repos](https://github.com/leo-drive/autoware.tutorial_vehicle/blob/main/autoware.repos) file.

```diff
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<node pkg="clap_b7_driver" exec="clap_b7_driver_node" name="clap_b7_driver" output="screen">
<param from="$(find-pkg-share clap_b7_driver)/config/clap_b7_driver.param.yaml"/>
</node>
<!-- ntrip Client -->

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<include file="$(find-pkg-share ntrip_client_ros)/launch/ntrip_client_ros.launch.py"/>

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</group>

<!-- NavSatFix to MGRS Pose -->
<include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
<include file="$(find-pkg-share autoware_gnss_poser)/launch/gnss_poser.launch.xml">
<arg name="input_topic_fix" value="$(var navsatfix_topic_name)"/>
<arg name="input_topic_orientation" value="$(var orientation_topic_name)"/>

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