feat: add support of NavSatFix

Signed-off-by: ktro2828 <[email protected]>

awviz_plugin/include/awviz_plugin/navsatfix/navsatfix_display.hpp

@@ -0,0 +1,40 @@
+// Copyright 2024 Kotaro Uetake.
+//
+// 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.
+
+#ifndef AWVIZ_PLUGIN__NAVSATFIX__NAVSATFIX_DISPLAY_HPP_
+#define AWVIZ_PLUGIN__NAVSATFIX__NAVSATFIX_DISPLAY_HPP_
+
+#include <awviz_common/display.hpp>
+
+#include <sensor_msgs/msg/nav_sat_fix.hpp>
+
+namespace awviz_plugin
+{
+/**
+ * @brief Display plugin of `sensor_msgs::msg::NavSatFix`.
+ */
+class NavSatFixDisplay : public awviz_common::RosTopicDisplay<sensor_msgs::msg::NavSatFix>
+{
+public:
+  /**
+   * @brief Construct a new object.
+   */
+  NavSatFixDisplay();
+
+protected:
+  void log_message(sensor_msgs::msg::NavSatFix::ConstSharedPtr msg) override;
+};
+}  // namespace awviz_plugin
+
+#endif

awviz_plugin/plugin_description.xml

@@ -23,6 +23,13 @@
         <message_type>sensor_msgs/msg/PointCloud2</message_type>
     </class>
 
+    <!-- NavSatFix -->
+    <class name="awviz_plugin/NavSatFixDisplay" type="awviz_plugin::NavSatFixDisplay"
+        base_class_type="awviz_common::Display">
+        <description>Display from sensor_msgs/msg/NavSatFix message.</description>
+        <message_type>sensor_msgs/msg/NavSatFix</message_type>
+    </class>
+
     <!-- Autoware -->
     <!-- Perception -->
     <class name="awviz_plugin/DetectedObjectsDisplay" type="awviz_plugin::DetectedObjectsDisplay"

awviz_plugin/src/navsatfix/navsatfix_display.cpp

@@ -0,0 +1,36 @@
+// Copyright 2024 Kotaro Uetake.
+//
+// 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.
+
+#include "awviz_plugin/navsatfix/navsatfix_display.hpp"
+
+#include <rerun.hpp>
+
+namespace awviz_plugin
+{
+NavSatFixDisplay::NavSatFixDisplay() : awviz_common::RosTopicDisplay<sensor_msgs::msg::NavSatFix>()
+{
+}
+
+void NavSatFixDisplay::log_message(sensor_msgs::msg::NavSatFix::ConstSharedPtr msg)
+{
+  stream_->set_time_seconds(
+    TIMELINE_NAME, rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds());
+
+  const auto entity_path = property_.entity();
+  stream_->log(entity_path, rerun::GeoPoints(rerun::LatLon(msg->latitude, msg->longitude)));
+}
+}  // namespace awviz_plugin
+
+#include <pluginlib/class_list_macros.hpp>
+PLUGINLIB_EXPORT_CLASS(awviz_plugin::NavSatFixDisplay, awviz_common::Display);