Track default platform GPS

Author: hilary-luo

clearpath_generator_common/clearpath_generator_common/param/platform.py

@@ -38,7 +38,7 @@
 from clearpath_config.common.utils.dictionary import merge_dict, replace_dict_items
 from clearpath_config.platform.battery import BatteryConfig
 from clearpath_config.sensors.types.cameras import BaseCamera, IntelRealsense
-from clearpath_config.sensors.types.gps import BaseGPS
+from clearpath_config.sensors.types.gps import BaseGPS, NMEA
 from clearpath_config.sensors.types.imu import BaseIMU, PhidgetsSpatial
 from clearpath_config.sensors.types.lidars_2d import BaseLidar2D
 from clearpath_config.sensors.types.lidars_3d import BaseLidar3D
@@ -323,6 +323,13 @@ def generate_parameters(self, use_sim_time: bool = False) -> None:
                     'contains': ['imu']
                 }
 
+            if self.clearpath_config.get_platform_model() == Platform.J100:
+                sensor_analyzers['gps'] = {
+                    'type': 'diagnostic_aggregator/GenericAnalyzer',
+                    'path': 'GPS',
+                    'contains': ['gps']
+                }
+
             # List all topics to be monitored from each launched sensor
             for sensor in self.clearpath_config.sensors.get_all_sensors():
 
@@ -476,6 +483,18 @@ def generate_parameters(self, use_sim_time: bool = False) -> None:
                     }
                 })
 
+            if platform_model == Platform.J100:
+                self.param_file.update({
+                    self.DIAGNOSTIC_UPDATER_NODE: {
+                        'topics': {
+                            'sensors/gps_0/fix': {
+                                'type': NMEA.TOPICS.TYPE[NMEA.TOPICS.FIX],
+                                'rate': 10.0
+                            }
+                        }
+                    }
+                })
+
             # List all topics to be monitored from each launched sensor
             for sensor in self.clearpath_config.sensors.get_all_sensors():