MapIV · rsasaki0109 · Dec 19, 2022 · Dec 16, 2022 · Dec 19, 2022
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -40,44 +40,6 @@ jobs:
           rosdep install --from-paths src --ignore-src -r -y
           colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-skip-building-tests
 
-  galactic_build:
-    runs-on:  ubuntu-20.04
-
-    container: ros:galactic
-    services:
-      ros:
-        image: ros
-
-    defaults:
-      run:
-        shell: bash
-
-    steps:
-      - name: checkout
-        uses: actions/checkout@v2
-
-      - name: rosdep update
-        run: |
-          apt-get update
-          rosdep update
-      - name: Create Workspace
-        run: |
-          mkdir -p ~/eagleye/src/
-          cp -r `pwd` ~/eagleye/src/
-      - name: Clone rtklib_msgs
-        run: |
-          cd ~/eagleye/src/
-          git clone https://github.com/MapIV/rtklib_ros_bridge.git -b ros2-v0.1.0
-      - name: Install GeographicLib
-        run: |
-          apt-get install -y libgeographic-dev geographiclib-tools geographiclib-doc
-      - name: Build
-        run: |
-          cd ~/eagleye/
-          source /opt/ros/galactic/setup.bash
-          rosdep install --from-paths src --ignore-src -r -y
-          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-skip-building-tests
-
   foxy_build:
     runs-on:  ubuntu-20.04
 

diff --git a/eagleye_rt/launch/eagleye_rt.launch.xml b/eagleye_rt/launch/eagleye_rt.launch.xml
@@ -136,4 +136,7 @@
 
   <include file="$(find-pkg-share eagleye_tf)/launch/tf.xml" if="$(var use_tf)"/>
 
+  <include file="$(find-pkg-share eagleye_fix2pose)/launch/fix2pose.xml">
+  </include>
+
 </launch>
diff --git a/eagleye_rt/src/heading_node.cpp b/eagleye_rt/src/heading_node.cpp
@@ -128,7 +128,7 @@ int main(int argc, char** argv)
   rclcpp::init(argc, argv);
   auto node = rclcpp::Node::make_shared(node_name);
 
-  std::string subscribe_rtklib_nav_topic_name = "rtklib_nav";
+  std::string subscribe_rtklib_nav_topic_name = "gnss/rtklib_nav";
   std::string subscribe_rmc_topic_name = "gnss/rmc";
 
   std::string yaml_file;

diff --git a/eagleye_rt/src/monitor_node.cpp b/eagleye_rt/src/monitor_node.cpp
@@ -1095,7 +1095,7 @@ int main(int argc, char** argv)
 
   std::string subscribe_twist_topic_name = "vehicle/twist";
 
-  std::string subscribe_rtklib_nav_topic_name = "/rtklib_nav";
+  std::string subscribe_rtklib_nav_topic_name = "gnss/rtklib_nav";
   std::string subscribe_gga_topic_name = "gnss/gga";
   std::string comparison_twist_topic_name = "/calculated_twist";
 

diff --git a/eagleye_rt/src/position_node.cpp b/eagleye_rt/src/position_node.cpp
@@ -152,7 +152,7 @@ int main(int argc, char** argv)
 
   // tfBuffer_(node->get_clock());
 
-  std::string subscribe_rtklib_nav_topic_name = "rtklib_nav";
+  std::string subscribe_rtklib_nav_topic_name = "gnss/rtklib_nav";
   std::string subscribe_gga_topic_name = "gnss/gga";
 
   std::string yaml_file;

diff --git a/eagleye_rt/src/smoothing_node.cpp b/eagleye_rt/src/smoothing_node.cpp
@@ -69,7 +69,7 @@ int main(int argc, char** argv)
   rclcpp::init(argc, argv);
   auto node = rclcpp::Node::make_shared("smoothing");
 
-  std::string subscribe_rtklib_nav_topic_name = "rtklib_nav";
+  std::string subscribe_rtklib_nav_topic_name = "gnss/rtklib_nav";
 
   std::string yaml_file;
   node->declare_parameter("yaml_file",yaml_file);

diff --git a/eagleye_rt/src/velocity_scale_factor_node.cpp b/eagleye_rt/src/velocity_scale_factor_node.cpp
@@ -196,7 +196,7 @@ int main(int argc, char** argv)
 
   std::string subscribe_twist_topic_name = "vehicle/twist";
 
-  std::string subscribe_rtklib_nav_topic_name = "rtklib_nav";
+  std::string subscribe_rtklib_nav_topic_name = "gnss/rtklib_nav";
   std::string subscribe_rmc_topic_name = "gnss/rmc";
 
   std::string yaml_file;

diff --git a/eagleye_util/fix2pose/launch/fix2pose.xml b/eagleye_util/fix2pose/launch/fix2pose.xml
@@ -3,7 +3,8 @@
 <launch>
 
   <node pkg="eagleye_fix2pose" name="fix2pose_node" exec="fix2pose" output="screen" >
-
+    <!-- /eagleye/fix or  /eagleye/rtk_fix(rtk_deadreckoning mode) -->
+    <remap from="/eagleye/fix" to="/eagleye/fix" />
     <param name="plane" value="7"/>
     <param name="tf_num" value="1"/>
     <!-- 0 : No convert  1 : ellipsoid -> altitude  2 : altitude -> ellipsoid -->