complete adc_gps_hcp2. and add adc_autowaremodule_launch for launch adc launch.

src/ros2/src/adc_autowaremodule_launch/CMakeLists.txt

@@ -0,0 +1,31 @@
+cmake_minimum_required(VERSION 3.8)
+project(adc_autowaremodule_launch)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+install(
+    DIRECTORY launch
+    DESTINATION share/${PROJECT_NAME}
+  )
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/ros2/src/adc_autowaremodule_launch/LICENSE

@@ -0,0 +1,202 @@
+
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src/ros2/src/adc_autowaremodule_launch/launch/modulelaunch.py

@@ -0,0 +1,42 @@
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package="adc_gps_hcp2",
+            executable="adc_gps_hcp2",
+            name="adc_gps_hcp2",
+            output="screen",
+            emulate_tty=True,
+            parameters=[
+                {"SerialPortName": "/dev/ttyUSB0"},
+                {"UseVelocity": True}
+            ]
+        ),
+
+        Node(
+            package="adc_controller_shenlan_v2",
+            executable="adc_controller_shenlan_v2",
+            name="adc_controller_shenlan_v2",
+            output="screen",
+            emulate_tty=True
+        ),
+
+        Node(
+            package="adc_can_nvidia_agx",
+            executable="adc_can_nvidia_agx",
+            name="adc_can_nvidia_agx",
+            output="screen",
+            emulate_tty=True
+        ),
+        Node(
+            package="adc_chassis",
+            executable="adc_chassis",
+            name="adc_chassis",
+            output="screen",
+            emulate_tty=True
+        )
+    ])
+

src/ros2/src/adc_autowaremodule_launch/package.xml

@@ -0,0 +1,20 @@
+<?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>adc_autowaremodule_launch</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="yuchuli@catarc.ac.cn">yuchuli</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <exec_depend>ros2launch</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/ros2/src/adc_can_nvidia_agx/CMakeLists.txt

@@ -65,7 +65,7 @@ ament_target_dependencies(adc_can_nvidia_agx rclcpp std_msgs geometry_msgs
 
 
 install(TARGETS
-adc_can_nvidia_agx
+  adc_can_nvidia_agx
   DESTINATION lib/${PROJECT_NAME})
 
 ament_package()

src/ros2/src/adc_can_nvidia_agx/include/adc_can_nvidia_agx/adc_can_nvidia_agx_core.hpp

@@ -32,7 +32,7 @@ class adc_can_nvidia_agx : public rclcpp::Node
 {
 public:
     adc_can_nvidia_agx();
-    ~adc_can_nvidia_agx() = default;
+    ~adc_can_nvidia_agx();
 
 private:
 

src/ros2/src/adc_can_nvidia_agx/src/adc_can_nvidia_agx_core.cpp

@@ -74,6 +74,11 @@ adc_can_nvidia_agx::adc_can_nvidia_agx() : Node("adc_can_nvidia_agx")
 
 }
 
+adc_can_nvidia_agx::~adc_can_nvidia_agx()
+{
+    delete mpcantrl;
+}
+
 void adc_can_nvidia_agx::timer_callback()
 {
     std::cout<<" on timer:"<<std::endl;
@@ -94,6 +99,7 @@ void adc_can_nvidia_agx::timer_callback()
 void adc_can_nvidia_agx::topic_cansend0_callback(const adc_autoware_msgs::msg::AdcCanMsgs & xmsg) const
 {
     (void)xmsg;
+ //   std::cout<<std::chrono::system_clock::now().time_since_epoch().count()<<" Recv A Can Msg."<<std::endl;
     mpcantrl->sendmsg(0,xmsg);
 }
 

src/ros2/src/adc_can_nvidia_agx/src/adc_can_nvidia_agx_node.cpp

@@ -23,6 +23,7 @@ int main(int argc, char ** argv)
   rclcpp::init(argc, argv);
 
   rclcpp::spin(std::make_shared<adc_can_nvidia_agx>());
+
   rclcpp::shutdown();
 
   return 0;

src/ros2/src/adc_chassis/CMakeLists.txt

@@ -36,6 +36,11 @@ add_executable(${PROJECT_NAME}
   src/adc_chassis_core.cpp
 )
 
+install(TARGETS
+  ${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME}
+)
+
 ament_target_dependencies(${PROJECT_NAME} rclcpp std_msgs 
   adc_autoware_msgs)
 

src/ros2/src/adc_controller_shenlan_v2/CMakeLists.txt

@@ -45,6 +45,11 @@ target_link_libraries(${PROJECT_NAME}  ${Protobuf_LIBRARIES})
 ament_target_dependencies(${PROJECT_NAME} rclcpp std_msgs 
   adc_autoware_msgs autoware_auto_control_msgs)
 
+install(TARGETS
+  ${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME}
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights

src/ros2/src/adc_controller_shenlan_v2/src/adc_controller_shenlan_v2_core.cpp

@@ -182,7 +182,16 @@ void adc_controller_shenlan_v2_core::threadsend()
         ExecSend();
         std::this_thread::sleep_for(std::chrono::milliseconds(10));
     }
+
+//    std::cout<<std::chrono::system_clock::now().time_since_epoch().count()<<" before unactivate."<<std::endl;
+//    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+
     UnAcitvate();
+
+//    std::cout<<std::chrono::system_clock::now().time_since_epoch().count()<<" send unactivate msg to can. Wait CAN Excute Send."<<std::endl;
+//    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+
+    std::cout<<std::chrono::system_clock::now().time_since_epoch().count()<<" thread send exit."<<std::endl;
 }
 
 void adc_controller_shenlan_v2_core::topic_cmd_callback(const autoware_auto_control_msgs::msg::AckermannControlCommand & msg)

src/ros2/src/adc_gps_hcp2/CMakeLists.txt

@@ -14,6 +14,11 @@ find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 #find_package(adc_autoware_msgs REQUIRED)
 #find_package(autoware_auto_control_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(autoware_auto_vehicle_msgs REQUIRED)
 find_package(Protobuf REQUIRED)
 find_package(Qt5 COMPONENTS Core SerialPort REQUIRED)
 
@@ -34,9 +39,20 @@ add_executable(${PROJECT_NAME}
 
 target_link_libraries(${PROJECT_NAME}  Geographic)  
 
-ament_target_dependencies(${PROJECT_NAME} rclcpp std_msgs 
+ament_target_dependencies(${PROJECT_NAME} rclcpp std_msgs geometry_msgs nav_msgs sensor_msgs tf2_geometry_msgs
+  autoware_auto_vehicle_msgs
   Qt5Core Qt5SerialPort)
 
+install(TARGETS
+  ${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(
+    DIRECTORY launch
+    DESTINATION share/${PROJECT_NAME}
+  )
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights

src/ros2/src/adc_gps_hcp2/include/adc_gps_hcp2/adc_gps_hcp2_core.hpp

@@ -12,6 +12,30 @@
 
 #include <QSerialPort>
 
+#include <tf2_ros/buffer.h>
+#include <tf2_ros/transform_listener.h>
+
+#include "geometry_msgs/msg/accel_with_covariance_stamped.hpp"
+#include "geometry_msgs/msg/pose.hpp"
+#include "geometry_msgs/msg/pose_stamped.hpp"
+#include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"
+#include "geometry_msgs/msg/transform_stamped.hpp"
+#include "geometry_msgs/msg/twist.hpp"
+#include "geometry_msgs/msg/twist_stamped.hpp"
+#include "nav_msgs/msg/odometry.hpp"
+#include "sensor_msgs/msg/imu.hpp"
+#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
+
+using geometry_msgs::msg::AccelWithCovarianceStamped;
+using geometry_msgs::msg::Pose;
+using geometry_msgs::msg::PoseStamped;
+using geometry_msgs::msg::PoseWithCovarianceStamped;
+using geometry_msgs::msg::TransformStamped;
+using geometry_msgs::msg::Twist;
+using geometry_msgs::msg::TwistStamped;
+using nav_msgs::msg::Odometry;
+using sensor_msgs::msg::Imu;
+using autoware_auto_vehicle_msgs::msg::VelocityReport;
 
 class adc_gps_hcp2_core : public rclcpp::Node
 {
@@ -37,15 +61,38 @@ private:
     QString mstrHCP2;
 
     double mfOldVel;
-    qint64 mOldTime;
     double mfCalc_acc;
-    QTime mTime;
+    int64_t mOldTime;
+
+    double mfacc;
 
 private:
     void SerialGPSDecode();
     void SerialGPSDecodeSen(QString strsen);
 
     unsigned char calccheck(unsigned char * p);
+    void CalcXY(double flon,double flat,double & fx,double & fy);
+
+private:
+    std::string simulated_frame_id_;  //!< @brief simulated vehicle frame id
+    std::string origin_frame_id_;     //!< @brief map frame_id
+    std::string mstrserialportname; 
+    bool mbUseVelocity = true;
+
+private:
+    rclcpp::Publisher<VelocityReport>::SharedPtr pub_velocity_;
+    rclcpp::Publisher<Odometry>::SharedPtr pub_odom_;
+    rclcpp::Publisher<AccelWithCovarianceStamped>::SharedPtr pub_acc_;
+//    rclcpp::Publisher<Imu>::SharedPtr pub_imu_;
+    rclcpp::Publisher<tf2_msgs::msg::TFMessage>::SharedPtr pub_tf_;
+//    rclcpp::Publisher<PoseStamped>::SharedPtr pub_current_pose_;
+    rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr pub_twist_;
+
+private:
+    void publish_velocity(const VelocityReport & velocity);
+    void publish_odometry(const Odometry & odometry);
+    void publish_acceleration();
+    void publish_tf(const Odometry & odometry);
 
 };
 

src/ros2/src/adc_gps_hcp2/launch/adc_gps_hcp2.py

@@ -0,0 +1,25 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package="adc_gps_hcp2",
+            executable="adc_gps_hcp2",
+            name="adc_gps_hcp2",
+            output="screen",
+            emulate_tty=True,
+            parameters=[
+                {"SerialPortName": "/dev/ttyUSB0"},
+                {"UseVelocity": True}
+            ]
+        ),
+
+        Node(
+            package="adc_controller_shenlan_v2",
+            executable="adc_controller_shenlan_v2",
+            name="adc_controller_shenlan_v2",
+            output="screen",
+            emulate_tty=True
+        )
+    ])

src/ros2/src/adc_gps_hcp2/package.xml

@@ -10,10 +10,17 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   
   <depend>rclcpp</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>autoware_auto_vehicle_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
+  <exec_depend>ros2launch</exec_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

src/ros2/src/adc_gps_hcp2/src/adc_gps_hcp2_core.cpp

@@ -1,7 +1,8 @@
 
 #include "adc_gps_hcp2_core.hpp"
 
-
+#include <GeographicLib/MGRS.hpp>
+#include <GeographicLib/UTMUPS.hpp>
 
 using namespace std;
 
@@ -17,7 +18,7 @@ static bool checknmeasen(const char * strsen,const unsigned int nlen)
     {
         if(strsen[i] == '*')
         {
-            nstarpos = i;
+            nstarpos = i; 
             break;
         }
         check = check^strsen[i];
@@ -43,9 +44,63 @@ static bool checknmeasen(const char * strsen,const unsigned int nlen)
     return false;
 }
 
+struct Quaternion {
+    double w, x, y, z;
+};
+
+struct EulerAngles {
+    double roll, pitch, yaw;
+};
+
+EulerAngles ToEulerAngles(Quaternion q) {
+    EulerAngles angles;
+
+    // roll (x-axis rotation)
+    double sinr_cosp = 2 * (q.w * q.x + q.y * q.z);
+    double cosr_cosp = 1 - 2 * (q.x * q.x + q.y * q.y);
+    angles.roll = std::atan2(sinr_cosp, cosr_cosp);
+
+    // pitch (y-axis rotation)
+    double sinp = 2 * (q.w * q.y - q.z * q.x);
+    if (std::abs(sinp) >= 1)
+        angles.pitch = std::copysign(M_PI / 2, sinp); // use 90 degrees if out of range
+    else
+        angles.pitch = std::asin(sinp);
+
+    // yaw (z-axis rotation)
+    double siny_cosp = 2 * (q.w * q.z + q.x * q.y);
+    double cosy_cosp = 1 - 2 * (q.y * q.y + q.z * q.z);
+    angles.yaw = std::atan2(siny_cosp, cosy_cosp);
+
+    return angles;
+}
+
+
+Quaternion ToQuaternion(double yaw, double pitch, double roll) // yaw (Z), pitch (Y), roll (X)
+{
+    // Abbreviations for the various angular functions
+    double cy = cos(yaw * 0.5);
+    double sy = sin(yaw * 0.5);
+    double cp = cos(pitch * 0.5);
+    double sp = sin(pitch * 0.5);
+    double cr = cos(roll * 0.5);
+    double sr = sin(roll * 0.5);
+
+    Quaternion q;
+    q.w = cy * cp * cr + sy * sp * sr;
+    q.x = cy * cp * sr - sy * sp * cr;
+    q.y = sy * cp * sr + cy * sp * cr;
+    q.z = sy * cp * cr - cy * sp * sr;
+
+    return q;
+}
+
+//原文链接：https://blog.csdn.net/xiaoma_bk/article/details/79082629
+
 adc_gps_hcp2_core::adc_gps_hcp2_core() : Node("adc_gps_hcp2")
 {
-    mTime.start();
+ //   mTime.start();
+    mOldTime = std::chrono::system_clock::now().time_since_epoch().count();
     mfCalc_acc = 0;
     mfOldVel = 0;
     mOldTime = 0;
@@ -55,8 +110,26 @@ adc_gps_hcp2_core::adc_gps_hcp2_core() : Node("adc_gps_hcp2")
     mnNotRecvCount = 0;
     mnLastOpenTime = 0;
 
+    simulated_frame_id_ = declare_parameter("simulated_frame_id", "base_link");
+    origin_frame_id_ = declare_parameter("origin_frame_id", "map");
+    mstrserialportname = declare_parameter("SerialPortName","/dev/ttyUSB0");
+    mbUseVelocity = declare_parameter("UseVelocity",true);
+
+    std::cout<<" use velocity: "<<mbUseVelocity<<std::endl;
+
+    static constexpr std::size_t queue_size = 1;
+    rclcpp::QoS durable_qos(queue_size);
+    durable_qos.transient_local();
+
+    pub_twist_ = create_publisher<geometry_msgs::msg::TwistStamped>("twist", durable_qos);
+    pub_odom_ = create_publisher<Odometry>("/localization/kinematic_state", durable_qos);
+    pub_tf_ = create_publisher<tf2_msgs::msg::TFMessage>("/tf", durable_qos);
+    if(mbUseVelocity) pub_velocity_ = create_publisher<VelocityReport>("/vehicle/status/velocity_status", durable_qos);
+    pub_acc_ = create_publisher<AccelWithCovarianceStamped>("/localization/acceleration", durable_qos);
+
+    std::cout<<" Serial Port Name: "<<mstrserialportname.data()<<std::endl;
 
-    QString struartdev = "/dev/ttyUSB0";
+    QString struartdev = QString(mstrserialportname.data());
     m_serialPort_GPS = new QSerialPort();
     m_serialPort_GPS->setPortName(struartdev);
     m_serialPort_GPS->setBaudRate(230400);
@@ -156,6 +229,9 @@ void adc_gps_hcp2_core::SerialGPSDecodeSen(QString strsen)
    int nsv1,nsv2;
    int gpsweek,gpstime;
    int insstate,rtkstate;
+   (void)fHgt; (void)gyro_x; (void)gyro_y; (void)gyro_z; (void)acc_x; (void)acc_y; (void)acc_z;
+   (void)nsv1; (void)nsv2; (void)gpsweek; (void)gpstime; (void)insstate;
+   (void)fheading; (void)fLat; (void)fLon; (void)fPitch; (void)fRoll;
    QString strx = strlistrmc.at(3);
    fheading = strx.toDouble();
 
@@ -175,6 +251,7 @@ void adc_gps_hcp2_core::SerialGPSDecodeSen(QString strsen)
    fHgt = strx.toDouble();
 
    double ve,vn,vu;
+   (void)ve; (void)vn; (void)vu;
    strx = strlistrmc.at(15);
    ve = strx.toDouble();
 
@@ -188,19 +265,22 @@ void adc_gps_hcp2_core::SerialGPSDecodeSen(QString strsen)
    strx = strlistrmc.at(18);
    fVel = strx.toDouble();
 
-   if((mTime.elapsed()-mOldTime) >= 100)
+   int64_t nnow = std::chrono::system_clock::now().time_since_epoch().count();
+   int ntimediff = abs((nnow - mOldTime)/1e6);
+   if( ntimediff >= 100)
+ //  if((mTime.elapsed()-mOldTime) >= 100)
    {
        if(mOldTime == 0)
        {
            mfCalc_acc = 0;
            mfOldVel = fVel;
-           mOldTime = mTime.elapsed();
+           mOldTime = nnow;
        }
        else
        {
-           mfCalc_acc = (fVel - mfOldVel)/((mTime.elapsed() - mOldTime)*0.001);
+           mfCalc_acc = (fVel - mfOldVel)/(ntimediff * 0.001);
            mfOldVel = fVel;
-           mOldTime = mTime.elapsed();
+           mOldTime = nnow;
        }
    }
 
@@ -267,6 +347,115 @@ void adc_gps_hcp2_core::SerialGPSDecodeSen(QString strsen)
        if(rtkstate == 0)insstate = 3;
    }
 
+    double flat = fLat;
+    double flon = fLon;
+    mfacc = acc_x;
+    double pitch,roll,yaw;
+    pitch = 0;
+    roll = 0;
+    yaw = (90 - fheading) *M_PI/180.0;
+    Quaternion quat = ToQuaternion(yaw,pitch,roll);
+    nav_msgs::msg::Odometry msg;
+    double fx,fy;
+    CalcXY(flon,flat,fx,fy);
+    double rel_x = fx;//7600;
+    double rel_y = fy;//32100;
+    double rel_z = 0;
+    msg.pose.pose.position.x = rel_x;
+    msg.pose.pose.position.y = rel_y;
+    msg.pose.pose.position.z = rel_z;
+    msg.pose.pose.orientation.x = quat.x;
+    msg.pose.pose.orientation.y = quat.y;
+    msg.pose.pose.orientation.z = quat.z;
+    msg.pose.pose.orientation.w = quat.w;
+    msg.twist.twist.linear.x = sqrt(pow(vn,2)+pow(ve,2));
+    publish_odometry(msg);
+    publish_tf(msg);
+
+    autoware_auto_vehicle_msgs::msg::VelocityReport velocity;
+    velocity.longitudinal_velocity = sqrt(pow(vn,2)+pow(ve,2));
+    velocity.lateral_velocity = 0.0F;
+    velocity.heading_rate = 0;
+    if(mbUseVelocity)publish_velocity(velocity);
+
+    publish_acceleration();
 
+
+}
+
+void adc_gps_hcp2_core::publish_velocity(const VelocityReport & velocity)
+{
+    VelocityReport msg = velocity;
+    msg.header.stamp = get_clock()->now();
+    msg.header.frame_id = simulated_frame_id_;
+    pub_velocity_->publish(msg);
+}
+void adc_gps_hcp2_core::publish_odometry(const Odometry & odometry)
+{
+    static int frame_id = 0;
+    frame_id++;
+    Odometry msg = odometry;
+    msg.header.frame_id = origin_frame_id_;
+    msg.header.stamp = get_clock()->now();
+    msg.child_frame_id = simulated_frame_id_;
+    pub_odom_->publish(msg);
+}
+
+void adc_gps_hcp2_core::publish_acceleration()
+{
+    AccelWithCovarianceStamped msg;
+    msg.header.frame_id = "/base_link";
+    msg.header.stamp = get_clock()->now();
+    msg.accel.accel.linear.x = mfacc;// 0;//vehicle_model_ptr_->getAx();
+
+    constexpr auto COV = 0.001;
+    msg.accel.covariance.at(0) = COV;          // linear x
+    msg.accel.covariance.at(1) = COV;          // linear y
+    msg.accel.covariance.at(2) = COV;          // linear z
+    msg.accel.covariance.at(21) = COV;    // angular x
+    msg.accel.covariance.at(28) = COV;  // angular y
+    msg.accel.covariance.at(35) = COV;      // angular z
+    pub_acc_->publish(msg);
+}
+
+void adc_gps_hcp2_core::publish_tf(const Odometry & odometry)
+{
+    static int frame_id = 0;
+    frame_id++;
+    TransformStamped tf;
+    tf.header.stamp = get_clock()->now();
+    tf.header.frame_id = origin_frame_id_;
+    tf.child_frame_id = simulated_frame_id_;
+    tf.transform.translation.x = odometry.pose.pose.position.x;
+    tf.transform.translation.y = odometry.pose.pose.position.y;
+    tf.transform.translation.z = odometry.pose.pose.position.z;
+    tf.transform.rotation = odometry.pose.pose.orientation;
+
+    tf2_msgs::msg::TFMessage tf_msg{};
+    tf_msg.transforms.emplace_back(std::move(tf));
+    pub_tf_->publish(tf_msg);
+}
+
+void adc_gps_hcp2_core::CalcXY(double flon,double flat,double & fx,double & fy)
+{
+    int zone{};
+    bool is_north{};
+    std::string mgrs_code;
+
+    double utm_x,utm_y;
+
+    try {
+        GeographicLib::UTMUPS::Forward(flat, flon, zone, is_north, utm_x, utm_y);
+        GeographicLib::MGRS::Forward(
+                    zone, is_north, utm_x, utm_y, flat, 3, mgrs_code);
+    } catch (const GeographicLib::GeographicErr & err) {
+        std::cerr << err.what() << std::endl;
+        return;
+
+    }
+    fx = fmod(utm_x,1e5);
+    fy = fmod(utm_y,1e5);
+    //  std::cout<<" fx: "<<fx<<" fy: "<<fy<<std::endl;
+    return;
 }
 

src/ros2/src/adc_gps_hcp2/src/adc_gps_hcp2_node.cpp

@@ -3,15 +3,13 @@
 #include <memory>
 
 //#include "adc_controller_shenlan_v2/adc_controller_shenlan_v2_core.hpp"
+#include "adc_gps_hcp2/adc_gps_hcp2_core.hpp"
 
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
 
-//  rclcpp::spin(std::make_shared<adc_controller_shenlan_v2_core>());
-
-  std::cout<<" shut. "<<std::endl;
-  
+  rclcpp::spin(std::make_shared<adc_gps_hcp2_core>());
 
   rclcpp::shutdown();