TODO

D Test: if we publish String through ROS2 in the same fashion as we publish NavSatFix, can we then successfully read it?

• Update paths used in CMakeLists D Add listeners to update IMU/GPS data
• Describe how this app was built
• Are our topics now compatible with ROS? See if there is some demo app that publishes IMU/GPS topics. Might be issues
• that the IDL files are not exactly like the String.idl we created for previous demo app

How it was built

• Install FastDDS (TODO: Link)
• Generate type files based on IDL with fastddsgen
• In the x64 dev terminal, go to ros\share
• Before generating: make sure to comment out the major (TODO: better description of what) @verbatim blocks
• Command: fastddsgen -d c:\temp\fastdds-remove sensor_msgs\msg\NavSatFix.idl -I . -typeros2 -de final

Notes

• To be ROS2 compatible we add "rt/" before the topic name (TODO: verify that this is actually required)
• Asking ROS2 to publish a topic of a certain kind is useful when debuggin. Using this command will publish a topic of kind NavSatFix continuously:
  • ros2 topic pub /fix sensor_msgs/msg/NavSatFix "{}"
• Using eProsima Fast DDS Monitor is useful for seeing if publisher and subscriber actually match. TODO: expand this note. Write that QoS also matters, how to fix etc
• To see what nodes are using a topic: ros2 topic info <topic> -v . Topic can be something like /gps_message

IDL cleaning: remove all @verbatim. Add @final before the struct for the structs that we generate from, eg. IMU and NavSatFix