Many changes that include:

- Added ability to change rate.
- Added ability to disable NED to ENU conversion.
- Created parameters for co-variance.
- Updated to Package format 2.
- Applied ROS lint changes.
- Switched to private node handle for parameters.

CMakeLists.txt

@@ -1,8 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(um7)
 
-find_package(catkin REQUIRED COMPONENTS roscpp serial roslint sensor_msgs 
-             message_generation)
+find_package(catkin REQUIRED COMPONENTS roscpp serial sensor_msgs message_generation)
 
 add_service_files(
   FILES
@@ -31,7 +30,6 @@ add_executable(um7_driver src/main.cpp src/registers.cpp src/comms.cpp)
 target_link_libraries(um7_driver ${catkin_LIBRARIES} )
 add_dependencies(um7_driver um7_generate_messages_cpp)
 
-
 #############
 ## Install ##
 #############
@@ -40,28 +38,20 @@ install(TARGETS um7_driver
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-##########
-## Docs ##
-##########
-
-file(GLOB LINT_SRCS
-  src/*.cpp
-  include/um6/registers.h
-  include/um6/comms.h)
-roslint_cpp(${LINT_SRCS})
-roslint_add_test()
-
 #############
 ## Testing ##
 #############
+if(CATKIN_ENABLE_TESTING)
+  find_package(roslint REQUIRED)
 
-catkin_add_gtest(${PROJECT_NAME}_test_registers test/test_registers.cpp src/registers.cpp)
-catkin_add_gtest(${PROJECT_NAME}_test_comms test/test_comms.cpp src/comms.cpp src/registers.cpp)
-if(TARGET ${PROJECT_NAME}_test_comms)
+  catkin_add_gtest(${PROJECT_NAME}_test_registers test/test_registers.cpp src/registers.cpp)
+  catkin_add_gtest(${PROJECT_NAME}_test_comms test/test_comms.cpp src/comms.cpp src/registers.cpp)
   target_link_libraries(${PROJECT_NAME}_test_comms util ${catkin_LIBRARIES})
-endif()
-if(TARGET ${PROJECT_NAME}_test_registers)
-  target_link_libraries(${PROJECT_NAME}_test_registers util ${catkin_LIBRARIES})
-endif()
-
 
+  file(GLOB LINT_SRCS
+    src/*.cpp
+    include/um7/registers.h
+    include/um7/comms.h)
+  roslint_cpp(${LINT_SRCS})
+  roslint_add_test()
+endif()

include/um7/comms.h

@@ -16,7 +16,7 @@
  *     * Neither the name of Clearpath Robotics, Inc. nor the
  *       names of its contributors may be used to endorse or promote products
  *       derived from this software without specific prior written permission.
- * 
+ *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
  * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
  * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
@@ -27,22 +27,24 @@
  * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- * 
- * Please send comments, questions, or patches to [email protected] 
+ *
+ * Please send comments, questions, or patches to [email protected]
  *
  */
 
-#ifndef INCLUDE_UM7_COMMS_H_
-#define INCLUDE_UM7_COMMS_H_
+#ifndef UM7_COMMS_H_
+#define UM7_COMMS_H_
 
 #include <stdint.h>
 #include <string>
 
-namespace serial {
-  class Serial;
+namespace serial
+{
+class Serial;
 }
 
-namespace um7 {
+namespace um7
+{
 
 class SerialTimeout : public std::exception {};
 
@@ -51,37 +53,39 @@ class BadChecksum : public std::exception {};
 class Registers;
 class Accessor_;
 
-class Comms {
-  public:
-    explicit Comms(serial::Serial* s) : serial_(s), first_spin_(true) {
-    }
+class Comms
+{
+public:
+  explicit Comms(serial::Serial* s) : serial_(s), first_spin_(true)
+  {
+  }
 
-    /**
-     * Returns -1 if the serial port timed out before receiving a packet
-     * successfully, or if there was a bad checksum or any other error.
-     * Otherwise, returns the 8-bit register number of the successfully
-     * returned packet.
-     */
-    int16_t receive(Registers* r);
+  /**
+   * Returns -1 if the serial port timed out before receiving a packet
+   * successfully, or if there was a bad checksum or any other error.
+   * Otherwise, returns the 8-bit register number of the successfully
+   * returned packet.
+   */
+  int16_t receive(Registers* r);
 
-    void send(const Accessor_& a) const;
+  void send(const Accessor_& a) const;
 
-    bool sendWaitAck(const Accessor_& a);
+  bool sendWaitAck(const Accessor_& a);
 
-    static const uint8_t PACKET_HAS_DATA;
-    static const uint8_t PACKET_IS_BATCH;
-    static const uint8_t PACKET_BATCH_LENGTH_MASK;
-    static const uint8_t PACKET_BATCH_LENGTH_OFFSET;
+  static const uint8_t PACKET_HAS_DATA;
+  static const uint8_t PACKET_IS_BATCH;
+  static const uint8_t PACKET_BATCH_LENGTH_MASK;
+  static const uint8_t PACKET_BATCH_LENGTH_OFFSET;
 
-    static std::string checksum(const std::string& s);
+  static std::string checksum(const std::string& s);
 
-    static std::string message(uint8_t address, std::string data);
+  static std::string message(uint8_t address, std::string data);
 
-  private:
-    bool first_spin_;
-    serial::Serial* serial_;
+private:
+  bool first_spin_;
+  serial::Serial* serial_;
 };
-}
+}  // namespace um7
 
-#endif  // INCLUDE_UM7_COMMS_H_
+#endif  // UM7_COMMS_H