Add external antenna

config/gz_antenna_remappings.yaml

@@ -0,0 +1,5 @@
+---
+  - topic_name: <robot_namespace><device_namespace>/fix
+    ros_type_name: sensor_msgs/msg/NavSatFix
+    gz_type_name: ignition.msgs.NavSat
+    direction: GZ_TO_ROS

launch/gz_external_antenna.launch.py

@@ -0,0 +1,78 @@
+# Copyright 2024 Husarion sp. z o.o.
+#
+# 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.
+
+import os
+
+from ament_index_python import get_package_share_directory
+from launch_ros.actions import Node
+from nav2_common.launch import ReplaceString
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import EnvironmentVariable, LaunchConfiguration
+
+
+def generate_launch_description():
+    ros_components_description = get_package_share_directory("ros_components_description")
+    gz_bridge_config_path = os.path.join(
+        ros_components_description, "config", "gz_antenna_remappings.yaml"
+    )
+
+    robot_namespace = LaunchConfiguration("robot_namespace")
+    device_namespace = LaunchConfiguration("device_namespace")
+    gz_bridge_name = LaunchConfiguration("gz_bridge_name")
+
+    namespaced_gz_bridge_config_path = ReplaceString(
+        source_file=gz_bridge_config_path,
+        replacements={
+            "<robot_namespace>": robot_namespace,
+            "<device_namespace>": device_namespace,
+        },
+    )
+
+    declare_device_namespace = DeclareLaunchArgument(
+        "device_namespace",
+        default_value="",
+        description="Sensor namespace that will appear before all non absolute topics and TF frames, used for distinguishing multiple cameras on the same robot.",
+    )
+
+    declare_robot_namespace = DeclareLaunchArgument(
+        "robot_namespace",
+        default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""),
+        description="Namespace which will appear in front of all topics (including /tf and /tf_static).",
+    )
+
+    declare_gz_bridge_name = DeclareLaunchArgument(
+        "gz_bridge_name",
+        default_value="gz_bridge",
+        description="Name of gz bridge node.",
+    )
+
+    gz_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        name=gz_bridge_name,
+        parameters=[{"config_file": namespaced_gz_bridge_config_path}],
+        namespace=robot_namespace,
+        output="screen",
+    )
+
+    return LaunchDescription(
+        [
+            declare_device_namespace,
+            declare_robot_namespace,
+            declare_gz_bridge_name,
+            gz_bridge,
+        ]
+    )

urdf/components.urdf.xacro

@@ -28,6 +28,20 @@
       <xacro:property name="device_namespace" value="${component['device_namespace']}"
         scope="parent" />
 
+      <xacro:if value="${type == 'ANT02'}">
+        <xacro:include
+          filename="$(find ros_components_description)/urdf/external_antenna.urdf.xacro"
+          ns="antenna" />
+
+        <xacro:antenna.external_antenna
+          parent_link="${parent_link}"
+          xyz="${xyz}"
+          rpy="${rpy}"
+          namespace="${robot_namespace}"
+          device_namespace="${device_namespace}"
+        />
+      </xacro:if>
+
       <xacro:if value="${type == 'CAM01'}">
         <xacro:include
           filename="$(find ros_components_description)/urdf/orbbec_astra.urdf.xacro"

urdf/external_antenna.urdf.xacro

@@ -0,0 +1,83 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:macro
+    name="external_antenna"
+    params="parent_link xyz rpy
+            namespace:=None
+            device_namespace:=None
+            frame_id:=gps">
+
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="ns" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+      <xacro:property name="ns" value="${namespace}/" />
+    </xacro:unless>
+
+    <xacro:if value="${device_namespace == 'None'}">
+      <xacro:property name="device_ns" value="" />
+    </xacro:if>
+    <xacro:unless value="${device_namespace == 'None'}">
+      <xacro:property name="device_ns" value="${device_namespace}/" />
+    </xacro:unless>
+
+    <xacro:if value="${device_namespace == 'None'}">
+      <xacro:property name="prefix" value="" />
+    </xacro:if>
+    <xacro:unless value="${device_namespace == 'None'}">
+      <xacro:property name="prefix" value="${device_namespace}_" />
+    </xacro:unless>
+
+    <joint name="${parent_link.rstrip('_link')}_to_${prefix}external_antenna_joint"
+      type="fixed">
+      <origin xyz="${xyz}" rpy="${rpy}" />
+      <parent link="${parent_link}" />
+      <child link="${prefix}external_antenna_link" />
+    </joint>
+
+    <link name="${prefix}external_antenna_link">
+      <visual>
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+        <geometry>
+          <mesh filename="package://panther_description/meshes/components/external_antenna.dae" />
+        </geometry>
+      </visual>
+
+      <collision>
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+        <geometry>
+          <mesh
+            filename="package://panther_description/meshes/components/external_antenna_collision.stl" />
+        </geometry>
+      </collision>
+
+      <inertial>
+        <origin xyz="0.045 0.0 0.0058" rpy="0.0 0.0 0.0" />
+        <mass value="0.59" />
+        <inertia ixx="0.003964" ixy="0.0000000" ixz="0.0"
+                                iyy="0.0003964" iyz="0.0"
+                                                izz="0.0004177" />
+      </inertial>
+    </link>
+
+    <joint
+      name="${prefix}external_antenna_to_${prefix}${frame_id.rstrip('_link')}_joint"
+      type="fixed">
+      <origin xyz="0.045 0.0 0.0058" rpy="0.0 0.0 0.0" />
+      <parent link="${prefix}external_antenna_link" />
+      <child link="${prefix}${frame_id}" />
+    </joint>
+
+    <link name="${prefix}${frame_id}" />
+
+    <gazebo reference="${prefix}${frame_id}">
+      <sensor name="navsat" type="navsat">
+        <plugin filename="ignition-gazebo-navsat-system" name="ignition::gazebo::systems::NavSat" />
+        <always_on>1</always_on>
+        <update_rate>5</update_rate>
+        <topic>${ns}${device_namespace}/fix</topic>
+        <ignition_frame_id>${prefix}gps</ignition_frame_id>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+</robot>