Add uaspire_ground

src/uaspire_ground/.gitignore

@@ -0,0 +1 @@
+/node_modules

src/uaspire_ground/CMakeLists.txt

@@ -0,0 +1,40 @@
+# CMakeLists.txt file to configure build of uaspire_ground
+
+# Set minimum version of CMake required to build
+cmake_minimum_required(VERSION 3.10 FATAL_ERROR)
+
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
+
+# Find ament meta build system
+find_package(ament_cmake REQUIRED)
+
+# Create uaspire_ground project
+project(uaspire_ground
+    DESCRIPTION "UASPIRE Ground"
+    LANGUAGES)
+
+# Find required packages
+find_package(uaspire_msgs REQUIRED)
+find_package(Node REQUIRED)
+find_package(Npm REQUIRED)
+
+# Create targets and add target dependencies
+add_custom_target(build_ground ALL
+    COMMENT "Build ground station"
+    COMMAND ${NPM_EXECUTABLE} install
+    USES_TERMINAL
+    WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}")
+
+# Install files to correct locations
+install(CODE "
+execute_process(
+    COMMAND ${NPM_EXECUTABLE} install --prefix=${CMAKE_INSTALL_PREFIX} -g
+    RESULT_VARIABLE install_result
+    WORKING_DIRECTORY \"${CMAKE_SOURCE_DIR}\"
+)
+if (NOT install_result EQUAL 0)
+    message(FATAL_ERROR \"Error installing to prefix\")
+endif()
+")
+
+ament_package()

src/uaspire_ground/build.js

@@ -0,0 +1,13 @@
+const rosidl_gen = require("rclnodejs/rosidl_gen");
+const path = require("path");
+
+const workspacePath = path.resolve(__dirname, "..", "..");
+
+console.log(`Generating ROS NodeJS messages in workspace (${workspacePath})`)
+rosidl_gen.generateInPath(workspacePath)
+    .then(() => {
+        console.log("Generated ROS NodeJS messages")
+    }, (err) => {
+        console.error("Error generating ROS NodeJS messages: ", err);
+        process.exit(1);
+    });

src/uaspire_ground/cmake/FindNode.cmake

@@ -0,0 +1,37 @@
+if (Node_FOUND)
+    return()
+endif()
+
+find_program (NODEJS_EXECUTABLE NAMES node nodejs
+    HINTS
+    ${NODE_DIR} $ENV{NODE_DIR}
+    PATH_SUFFIXES bin
+    DOC "Node.js interpreter")
+
+include (FindPackageHandleStandardArgs)
+
+if (NODEJS_EXECUTABLE)
+    execute_process(COMMAND ${NODEJS_EXECUTABLE} --version
+        OUTPUT_VARIABLE _VERSION
+        RESULT_VARIABLE _NODE_VERSION_RESULT)
+    if (NOT _NODE_VERSION_RESULT)
+        string (REPLACE "v" "" NODE_VERSION_STRING "${_VERSION}")
+        string (REPLACE "." ";" _VERSION_LIST "${NODE_VERSION_STRING}")
+        list (GET _VERSION_LIST 0 NODE_VERSION_MAJOR)
+        list (GET _VERSION_LIST 1 NODE_VERSION_MINOR)
+        list (GET _VERSION_LIST 2 NODE_VERSION_PATCH)
+    else ()
+        set (NODE_VERSION_STRING "0.10.30")
+        set (NODE_VERSION_MAJOR "0")
+        set (NODE_VERSION_MINOR "10")
+        set (NODE_VERSION_PATCH "30")
+        message (STATUS "defaulted to node 0.10.30")
+    endif ()
+    string (REGEX REPLACE "\n" "" NODE_VERSION_STRING ${NODE_VERSION_STRING})
+
+    mark_as_advanced (NODEJS_EXECUTABLE)
+endif ()
+
+find_package_handle_standard_args (Node
+    REQUIRED_VARS NODEJS_EXECUTABLE
+    VERSION_VAR NODE_VERSION_STRING)

src/uaspire_ground/cmake/FindNpm.cmake

@@ -0,0 +1,71 @@
+# FindNpm
+# --------
+#
+# Find npm
+#
+# This module finds an installed npm.  It sets the following variables:
+#
+#   NPM_FOUND - Set to true if npm is found
+#   NPM_DIR - The directory where npm is installed
+#   NPM_GLOBAL_NODE_MODULE_DIR - The global node_modules directory
+#   NPM_EXECUTABLE - The path to the npm executable
+#   NPM_VERSION  - The version number of the npm executable
+
+find_program(NPM_EXECUTABLE NAMES npm HINTS /usr)
+
+# If npm was found, fill in the rest
+if (NPM_EXECUTABLE)
+    # Set the global node_modules location
+    execute_process(COMMAND ${NPM_EXECUTABLE} root -g
+        OUTPUT_VARIABLE NPM_GLOBAL_NODE_MODULE_DIR
+        ERROR_VARIABLE NPM_root_g_error
+        RESULT_VARIABLE NPM_root_g_result_code)
+    # Remove and newlines
+    string (STRIP ${NPM_GLOBAL_NODE_MODULE_DIR} NPM_GLOBAL_NODE_MODULE_DIR)
+    if(NPM_root_g_result_code)
+        if(NPM_FIND_REQUIRED)
+            message(SEND_ERROR "Command \"${NPM_EXECUTABLE} root -g\" failed with output:\n${NPM_root_g_error}")
+        else ()
+            message(STATUS "Command \"${NPM_EXECUTABLE} root -g\" failed with output:\n${NPM_root_g_error}")
+        endif ()
+    endif()
+    unset(NPM_root_g_error)
+    unset(NPM_root_g_result_code)
+
+    # Set the NPM dir
+    if (EXISTS "${NPM_GLOBAL_NODE_MODULE_DIR}/npm")
+        set(NPM_DIR "${NPM_GLOBAL_NODE_MODULE_DIR}/npm")
+    endif()
+
+    # Set the VERSION
+    execute_process(COMMAND ${NPM_EXECUTABLE} -v
+        OUTPUT_VARIABLE NPM_VERSION
+        ERROR_VARIABLE NPM_version_error
+        RESULT_VARIABLE NPM_version_result_code)
+
+    if(NPM_version_result_code)
+        if(NPM_FIND_REQUIRED)
+            message(SEND_ERROR "Command \"${NPM_EXECUTABLE} -v\" failed with output:\n${NPM_version_error}")
+        else()
+            message(STATUS "Command \"${NPM_EXECUTABLE} -v\" failed with output:\n${NPM_version_error}")
+        endif ()
+    endif ()
+    unset(NPM_version_error)
+    unset(NPM_version_result_code)
+
+    # Remove and newlines
+    string (STRIP ${NPM_VERSION} NPM_VERSION)
+
+    set (NPM_FOUND TRUE)
+else()
+    # Fail on REQUIRED
+    if (Npm_FIND_REQUIRED)
+        message(SEND_ERROR "Failed to find npm executable")
+    endif()
+endif ()
+
+find_package_handle_standard_args(NPM
+    REQUIRED_VARS NPM_EXECUTABLE NPM_DIR
+    VERSION_VAR NPM_VERSION )
+
+mark_as_advanced(NPM_DIR NPM_GLOBAL_NODE_MODULE_DIR NPM_EXECUTABLE NPM_VERSION)

src/uaspire_ground/index.js

@@ -0,0 +1,19 @@
+#!/usr/bin/env node
+
+const rcl = require("rclnodejs");
+
+async function start() {
+    await rcl.init();
+    console.log("Initialized ROS client");
+
+    const MsgCommand = rcl.require('uaspire_msgs/msg/Command');
+    const MsgSensors = rcl.require('uaspire_msgs/msg/Sensors');
+
+    const node = rcl.createNode("uaspire_ground");
+    node.createSubscription(MsgSensors, "uaspire/sensors", (sensors) => {
+        console.log("Received sensors: ", sensors);
+    });
+    rcl.spin(node);
+}
+
+start().catch((err) => console.error("Unhandled error:", err));

src/uaspire_ground/package-lock.json

@@ -0,0 +1,401 @@
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+}

src/uaspire_ground/package.json

@@ -0,0 +1,18 @@
+{
+  "name": "uaspire_ground",
+  "version": "0.0.1",
+  "description": "UASPIRE Ground",
+  "main": "index.js",
+  "bin": {
+    "uaspire_ground": "./index.js"
+  },
+  "scripts": {
+    "postinstall": "node build.js",
+    "test": "echo \"Error: no test specified\" && exit 1"
+  },
+  "author": "Alex Mikhalev <alexmikhalevalex@gmail.com> (http://github.com/amikhalev)",
+  "license": "MIT",
+  "dependencies": {
+    "rclnodejs": "git://github.com/amikhalev/rclnodejs#fix-multiple-ament-paths"
+  }
+}

src/uaspire_ground/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>uaspire_ground</name>
+  <version>0.0.1</version>
+  <description>UASPIRE Ground</description>
+  <maintainer email="alex@amikhalev.com">Alex Mikhalev</maintainer>
+  <license>Apache License 2.0</license>
+  <author>Alex Mikhalev</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>rcl</build_depend>
+  <build_depend>rcutils</build_depend>
+  <build_depend>rmw</build_depend>
+  <build_depend>rosidl_generator_c</build_depend>
+
+  <exec_depend>rcl</exec_depend>
+  <exec_depend>rcutils</exec_depend>
+  <exec_depend>rmw</exec_depend>
+  <exec_depend>rosidl_generator_c</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>