1. (modify) 更新 ros2 對於 GNSS topic 的發佈, 使其包涵 epv eph 衛星數與 fix_type

2. (adding) 新增相應的 msg 檔案與修改 CMakeLists, package
3. (adding) test_vehicleStatusPublisher 相對應修正

src/fc_interfaces/CMakeLists.txt

@@ -9,13 +9,15 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/AttitudeRaw.msg"
+  "msg/GnssRaw.msg"
   "srv/MavPing.srv"
   "srv/MavCommandLong.srv"
   "srv/MavPositionTargetGlobalInt.srv"
-  DEPENDENCIES std_msgs
+  DEPENDENCIES std_msgs builtin_interfaces
   )
 
 ament_package()

src/fc_interfaces/msg/GnssRaw.msg

@@ -0,0 +1,8 @@
+builtin_interfaces/Time stamp
+float64 latitude
+float64 longitude
+float64 altitude
+uint8 fix_type
+uint8 satellites_visible
+float32 eph
+float32 epv

src/fc_interfaces/package.xml

@@ -17,6 +17,8 @@
 
   <build_depend>std_msgs</build_depend>
   <exec_depend>std_msgs</exec_depend>
+  <build_depend>builtin_interfaces</build_depend>
+  <exec_depend>builtin_interfaces</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>