badai-nguyen
diff --git a/‎sensing/geo_pos_conv/CHANGELOG.rst
+203 b/‎sensing/geo_pos_conv/CHANGELOG.rst
+203
diff --git a/‎sensing/geo_pos_conv/CMakeLists.txt
+28 b/‎sensing/geo_pos_conv/CMakeLists.txt
+28
diff --git a/‎sensing/geo_pos_conv/README.md
+21 b/‎sensing/geo_pos_conv/README.md
+21
diff --git a/‎sensing/geo_pos_conv/include/geo_pos_conv/geo_pos_conv.hpp
+56 b/‎sensing/geo_pos_conv/include/geo_pos_conv/geo_pos_conv.hpp
+56
diff --git a/‎sensing/geo_pos_conv/package.xml
+22 b/‎sensing/geo_pos_conv/package.xml
+22
@@ -0,0 +1,203 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package geo_pos_conv
+^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+2.0.0 (2020-10-03)
+------------------
+* Convert package to ROS2
+
+1.11.0 (2019-03-21)
+-------------------
+* add constructor (`#1913 <https://github.com/CPFL/Autoware/issues/1913>`_)
+* Fix license notice in corresponding package.xml
+* Contributors: YamatoAndo, amc-nu
+
+1.10.0 (2019-01-17)
+-------------------
+* Switch to Apache 2 license (develop branch) (`#1741 <https://github.com/CPFL/Autoware/issues/1741>`_)
+  * Switch to Apache 2
+  * Replace BSD-3 license header with Apache 2 and reassign copyright to the
+  Autoware Foundation.
+  * Update license on Python files
+  * Update copyright years
+  * Add #ifndef/define _POINTS_IMAGE_H\_
+  * Updated license comment
+* Contributors: Esteve Fernandez
+
+1.9.1 (2018-11-06)
+------------------
+
+1.9.0 (2018-10-31)
+------------------
+
+1.8.0 (2018-08-31)
+------------------
+
+1.7.0 (2018-05-18)
+------------------
+* update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst
+* [fix] Fixes for all packages and dependencies (`#1240 <https://github.com/CPFL/Autoware/pull/1240>`_)
+  * Initial Cleanup
+  * fixed also for indigo
+  * kf cjeck
+  * Fix road wizard
+  * Added travis ci
+  * Trigger CI
+  * Fixes to cv_tracker and lidar_tracker cmake
+  * Fix kitti player dependencies
+  * Removed unnecessary dependencies
+  * messages fixing for can
+  * Update build script travis
+  * Travis Path
+  * Travis Paths fix
+  * Travis test
+  * Eigen checks
+  * removed unnecessary dependencies
+  * Eigen Detection
+  * Job number reduced
+  * Eigen3 more fixes
+  * More Eigen3
+  * Even more Eigen
+  * find package cmake modules included
+  * More fixes to cmake modules
+  * Removed non ros dependency
+  * Enable industrial_ci for indidog and kinetic
+  * Wrong install command
+  * fix rviz_plugin install
+  * FastVirtualScan fix
+  * Fix Qt5 Fastvirtualscan
+  * Fixed qt5 system dependencies for rosdep
+  * NDT TKU Fix catkin not pacakged
+  * More in detail dependencies fixes for more packages
+  * GLEW library for ORB
+  * Ignore OrbLocalizer
+  * Ignore Version checker
+  * Fix for driveworks interface
+  * driveworks not catkinpackagedd
+  * Missing catkin for driveworks
+  * libdpm opencv not catkin packaged
+  * catkin lib gnss  not included in obj_db
+  * Points2Polygon fix
+  * More missing dependencies
+  * image viewer not packaged
+  * Fixed SSH2 detection, added viewers for all distros
+  * Fix gnss localizer incorrect dependency config
+  * Fixes to multiple packages dependencies
+  * gnss plib and package
+  * More fixes to gnss
+  * gnss dependencies for gnss_loclaizer
+  * Missing gnss dependency for gnss on localizer
+  * More fixes for dependencies
+  Replaced gnss for autoware_gnss_library
+  * gnss more fixes
+  * fixes to more dependencies
+  * header dependency
+  * Debug message
+  * more debug messages changed back to gnss
+  * debud messages
+  * gnss test
+  * gnss install command
+  * Several fixes for OpenPlanner and its lbiraries
+  * Fixes to ROSInterface
+  * More fixes to robotsdk and rosinterface
+  * robotsdk calibration fix
+  * Fixes to rosinterface robotsdk libraries and its nodes
+  * Fixes to Qt5 missing dependencies in robotsdk
+  * glviewer missing dependencies
+  * Missing qt specific config cmake for robotsdk
+  * disable cv_tracker
+  * Fix to open planner un needed dependendecies
+  * Fixes for libraries indecision maker
+  * Fixes to libraries decision_maker installation
+  * Gazebo on Kinetic
+  * Added Missing library
+  * * Removed Gazebo and synchonization packages
+  * Renames vmap in lane_planner
+  * Added installation commands for missing pakcages
+  * Fixes to lane_planner
+  * Added NDT TKU Glut extra dependencies
+  * ndt localizer/lib fast pcl fixes
+  re enable cv_tracker
+  * Fix kf_lib
+  * Keep industrial_ci
+  * Fixes for dpm library
+  * Fusion lib fixed
+  * dpm and fusion header should match exported project name
+  * Fixes to dpm_ocv  ndt_localizer and pcl_omp
+  * no fast_pcl anymore
+  * fixes to libdpm and its package
+  * CI test
+  * test with native travis ci
+  * missing update for apt
+  * Fixes to pcl_omp installation and headers
+  * Final fixes for tests, modified README
+  * * Fixes to README
+  * Enable industrial_ci
+  * re enable native travis tests
+* Contributors: Abraham Monrroy, Kosuke Murakami
+
+1.6.3 (2018-03-06)
+------------------
+
+1.6.2 (2018-02-27)
+------------------
+* Update CHANGELOG
+* Contributors: Yusuke FUJII
+
+1.6.1 (2018-01-20)
+------------------
+* update CHANGELOG
+* Contributors: Yusuke FUJII
+
+1.6.0 (2017-12-11)
+------------------
+* Prepare release for 1.6.0
+* support all plane(1-19) in geo_pos_conv
+* Contributors: Yamato ANDO, yukikitsukawa
+
+1.5.1 (2017-09-25)
+------------------
+* Release/1.5.1 (`#816 <https://github.com/cpfl/autoware/issues/816>`_)
+  * fix a build error by gcc version
+  * fix build error for older indigo version
+  * update changelog for v1.5.1
+  * 1.5.1
+* Contributors: Yusuke FUJII
+
+1.5.0 (2017-09-21)
+------------------
+* Update changelog
+* install target
+* Contributors: Dejan Pangercic, Yusuke FUJII
+
+1.4.0 (2017-08-04)
+------------------
+* version number must equal current release number so we can start releasing in the future
+* added changelogs
+* Contributors: Dejan Pangercic
+
+1.3.1 (2017-07-16)
+------------------
+
+1.3.0 (2017-07-14)
+------------------
+
+1.2.0 (2017-06-07)
+------------------
+
+1.1.2 (2017-02-27 23:10)
+------------------------
+
+1.1.1 (2017-02-27 22:25)
+------------------------
+
+1.1.0 (2017-02-24)
+------------------
+
+1.0.1 (2017-01-14)
+------------------
+
+1.0.0 (2016-12-22)
+------------------
+* Initial commit for public release
+* Contributors: Shinpei Kato
@@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 3.5)
+project(geo_pos_conv)
+
+### Compile options
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+### Add dependencies
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+### Create library
+ament_auto_add_library(geo_pos_conv SHARED
+  src/geo_pos_conv.cpp
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()
@@ -0,0 +1,21 @@
+# geo_pos_conv
+
+## Purpose
+
+The `geo_pos_conv` is a library to calculate the conversion between **x, y positions on the plane rectangular coordinate** and **latitude/longitude on the earth**.
+
+## Inner-workings / Algorithms
+
+## Inputs / Outputs
+
+## Parameters
+
+## Assumptions / Known limits
+
+## (Optional) Error detection and handling
+
+## (Optional) Performance characterization
+
+## (Optional) References/External links
+
+## (Optional) Future extensions / Unimplemented parts
@@ -0,0 +1,56 @@
+// Copyright 2015-2019 Autoware Foundation
+//
+// 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 GEO_POS_CONV__GEO_POS_CONV_HPP_
+#define GEO_POS_CONV__GEO_POS_CONV_HPP_
+
+#include <math.h>
+
+class geo_pos_conv
+{
+private:
+  double m_x;  // m
+  double m_y;  // m
+  double m_z;  // m
+
+  double m_lat;  // latitude
+  double m_lon;  // longitude
+  double m_h;
+
+  double m_PLato;  // plane lat
+  double m_PLo;    // plane lon
+
+public:
+  geo_pos_conv();
+  double x() const;
+  double y() const;
+  double z() const;
+
+  void set_plane(double lat, double lon);
+  void set_plane(int num);
+  void set_xyz(double cx, double cy, double cz);
+
+  // set llh in radians
+  void set_llh(double lat, double lon, double h);
+
+  // set llh in nmea degrees
+  void set_llh_nmea_degrees(double latd, double lond, double h);
+
+  void llh_to_xyz(double lat, double lon, double ele);
+
+  void conv_llh2xyz(void);
+  void conv_xyz2llh(void);
+};
+
+#endif  // GEO_POS_CONV__GEO_POS_CONV_HPP_
@@ -0,0 +1,22 @@
+<?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>geo_pos_conv</name>
+  <version>2.0.0</version>
+  <description>The ROS2 geo_pos_conv package</description>
+  <maintainer email="ryo.watanabe@tier4.jp">Ryo Watanabe</maintainer>
+  <maintainer email="tomo@axe.bz">Tomomi HORII</maintainer>
+  <!-- ROS2 -->
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>