From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 27 Aug 2025 05:21:22 +0000 (-0300)
Subject: Porto to Jazzy.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=ddf234bc94b1559695bf6c9aacde7094348e6223;p=imufusion_ros.git

Porto to Jazzy.
---

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e9206bd..3d9dbfe 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,215 +1,53 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(imufusion_ros)
 
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  eigen_conversions
-  geometry_msgs
-#  imufusion
-  roscpp
-  sensor_msgs
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-add_library(imufusion STATIC IMPORTED) # or STATIC instead of SHARED
-set_target_properties(imufusion PROPERTIES
-  IMPORTED_LOCATION "$ENV{HOME}/lib/libimufusion.a"
-  INTERFACE_INCLUDE_DIRECTORIES "$ENV{HOME}/include"
-)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   geometry_msgs#   sensor_msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(tf2_eigen REQUIRED)
+find_package(geometry_msgs REQUIRED)
+#find_package(imufusion REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(Eigen3 REQUIRED)
 
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES imufusion_ros
-#  CATKIN_DEPENDS eigen_conversions geometry_msgs imufusion roscpp sensor_msgs
-#  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/imufusion_ros.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
 add_executable(ekf src/ekf.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-target_link_libraries(ekf
-   ${catkin_LIBRARIES}
-   imufusion
+target_include_directories(ekf PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<BUILD_INTERFACE:${EIGEN3_INCLUDE_DIR}>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
+target_compile_features(ekf PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+ament_target_dependencies(
+  ekf
+  "rclcpp"
+  "tf2_eigen"
+  "geometry_msgs"
+#  "imufusion"
+  "sensor_msgs"
 )
 
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
+target_include_directories(ekf PUBLIC $ENV{HOME}/include)
+target_link_libraries(ekf $ENV{HOME}/lib/libimufusion.a)
 
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
+install(TARGETS ekf
+  DESTINATION lib/${PROJECT_NAME})
 
-#############
-## Testing ##
-#############
+install(DIRECTORY config launch
+  DESTINATION share/${PROJECT_NAME})
 
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_imufusion_ros.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
+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()
 
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+ament_package()
diff --git a/config/display.rviz b/config/display.rviz
new file mode 100644
index 0000000..dfe64f1
--- /dev/null
+++ b/config/display.rviz
@@ -0,0 +1,258 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /TF1
+        - /TF1/Frames1
+      Splitter Ratio: 0.5
+    Tree Height: 549
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Temperature
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        bno055_shuttle_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bno055_shuttle_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bno055_shuttle_measurement_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        bno055_shuttle_origin:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        bno055_shuttle_socket_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Alpha: 0.30000001192092896
+      Autocompute Intensity Bounds: false
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: temperature
+      Class: rviz_default_plugins/Temperature
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: true
+      Max Color: 255; 255; 255
+      Max Intensity: 100
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Temperature
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.10000000149011612
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /imu/temperature
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        bno055_shuttle_base_link:
+          Value: false
+        bno055_shuttle_link:
+          Value: false
+        bno055_shuttle_measurement_frame:
+          Value: true
+        bno055_shuttle_origin:
+          Value: false
+        bno055_shuttle_socket_link:
+          Value: false
+        enu_link:
+          Value: true
+        imu_link:
+          Value: false
+        map:
+          Value: false
+      Marker Scale: 0.20000000298023224
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: false
+      Tree:
+        map:
+          enu_link:
+            imu_link:
+              bno055_shuttle_origin:
+                bno055_shuttle_base_link:
+                  bno055_shuttle_socket_link:
+                    bno055_shuttle_link:
+                      bno055_shuttle_measurement_frame:
+                        {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 255; 255; 255
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 0.1501678079366684
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000026300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 622
+  Y: 87
diff --git a/config/ekf.yaml b/config/ekf.yaml
index 0ee1080..c6fb9e5 100644
--- a/config/ekf.yaml
+++ b/config/ekf.yaml
@@ -1,4 +1,7 @@
-# Floating point numbers in YAML require the dot, even if using "e".
+ekf:
+    ros__parameters:
 
-Pw: [7.47601e-07, 7.47601e-07, 7.47601e-07, 7.47601e-07, 0.00274156, 0.00274156, 0.00274156]
-Pv: [0.000173706, 0.000173706, 0.000173706, 1.0e-12, 1.0e-12, 1.96e-12]
+        # Floating point numbers in YAML require the dot, even if using "e".
+
+        Pw: [7.47601e-07, 7.47601e-07, 7.47601e-07, 7.47601e-07, 0.00274156, 0.00274156, 0.00274156]
+        Pv: [0.000173706, 0.000173706, 0.000173706, 1.0e-12, 1.0e-12, 1.96e-12]
diff --git a/launch/display.launch b/launch/display.launch
deleted file mode 100644
index e00cb3f..0000000
--- a/launch/display.launch
+++ /dev/null
@@ -1,15 +0,0 @@
-<launch>
-	<arg name="config" default="$(find imufusion_ros)/config/ekf.yaml"/>
-
-	<include file="$(find imufusion_ros)/launch/ekf.launch">
-		<arg name="config" value="$(arg config)"/>
-	</include>
-
-	<node pkg="tf2_ros" type="static_transform_publisher"
-		name="enu_publisher"
-		args="0 0 0 0 0 0.9238795 0.3826834 map enu_link" />
-	<node pkg="imu_odometry" type="imu2tf" name="imu2tf"
-		args="enu_link" output="screen" />
-	<node name="rviz" pkg="rviz" type="rviz"
-		args="-d $(find imufusion_ros)/rviz/display.rviz" />
-</launch>
diff --git a/launch/display.launch.xml b/launch/display.launch.xml
new file mode 100644
index 0000000..7ffc0b4
--- /dev/null
+++ b/launch/display.launch.xml
@@ -0,0 +1,15 @@
+<launch>
+	<arg name="config" default="$(find-pkg-share imufusion_ros)/config/ekf.yaml"/>
+
+	<include file="$(find-pkg-share imufusion_ros)/launch/ekf.launch.xml">
+		<arg name="config" value="$(var config)"/>
+	</include>
+
+	<node pkg="tf2_ros" exec="static_transform_publisher"
+		name="enu_publisher"
+		args="0 0 0 0 0 0.9238795 0.3826834 map enu_link" />
+	<node pkg="imu_odometry" exec="imu2tf" name="imu2tf"
+		args="enu_link" output="screen" />
+	<node name="rviz" pkg="rviz2" exec="rviz2"
+		args="-d $(find-pkg-share imufusion_ros)/config/display.rviz" />
+</launch>
diff --git a/launch/ekf.launch b/launch/ekf.launch
deleted file mode 100644
index 749fde3..0000000
--- a/launch/ekf.launch
+++ /dev/null
@@ -1,7 +0,0 @@
-<launch>
-	<arg name="config" default="$(find imufusion_ros)/config/ekf.yaml"/>
-
-	<node pkg="imufusion_ros" type="ekf" name="ekf" args="ekf_link">
-		<rosparam file="$(arg config)" command="load" />
-	</node>
-</launch>
diff --git a/launch/ekf.launch.xml b/launch/ekf.launch.xml
new file mode 100644
index 0000000..c375626
--- /dev/null
+++ b/launch/ekf.launch.xml
@@ -0,0 +1,7 @@
+<launch>
+	<arg name="config" default="$(find-pkg-share imufusion_ros)/config/ekf.yaml"/>
+
+	<node pkg="imufusion_ros" exec="ekf" name="ekf" args="ekf_link">
+		<param from="$(var config)"/>
+	</node>
+</launch>
diff --git a/package.xml b/package.xml
index 695755d..fabf7a9 100644
--- a/package.xml
+++ b/package.xml
@@ -1,75 +1,25 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>imufusion_ros</name>
-  <version>0.1.0</version>
-  <description>The imufusion_ros package</description>
-
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <version>0.0.0</version>
+  <description>ROS wrapper for imufusion.</description>
   <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
+  <license>GPL-3.0-only</license>
 
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>GPLv3</license>
-
-
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/imufusion_ros</url> -->
-
+  <depend>rclcpp</depend>
+  <!--depend>eigen_conversions</depend-->
+  <depend>geometry_msgs</depend>
+  <depend>imufusion</depend>
+  <depend>sensor_msgs</depend>
+  <depend>tf2_eigen</depend>
 
-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-  <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
 
-
-  <!-- The *depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
-  <!--   <depend>roscpp</depend> -->
-  <!--   Note that this is equivalent to the following: -->
-  <!--   <build_depend>roscpp</build_depend> -->
-  <!--   <exec_depend>roscpp</exec_depend> -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use build_export_depend for packages you need in order to build against this package: -->
-  <!--   <build_export_depend>message_generation</build_export_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use exec_depend for packages you need at runtime: -->
-  <!--   <exec_depend>message_runtime</exec_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <!-- Use doc_depend for packages you need only for building documentation: -->
-  <!--   <doc_depend>doxygen</doc_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>eigen_conversions</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>imufusion</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_export_depend>eigen_conversions</build_export_depend>
-  <build_export_depend>geometry_msgs</build_export_depend>
-  <build_export_depend>imufusion</build_export_depend>
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>sensor_msgs</build_export_depend>
-  <exec_depend>eigen_conversions</exec_depend>
-  <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>imufusion</exec_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>sensor_msgs</exec_depend>
-
-
-  <!-- The export tag contains other, unspecified, tags -->
   <export>
-    <!-- Other tools can request additional information be placed here -->
-
+    <build_type>ament_cmake</build_type>
   </export>
 </package>
diff --git a/rviz/display.rviz b/rviz/display.rviz
deleted file mode 100644
index fd28d11..0000000
--- a/rviz/display.rviz
+++ /dev/null
@@ -1,170 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded: ~
-      Splitter Ratio: 0.4301801919937134
-    Tree Height: 555
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: ""
-Preferences:
-  PromptSaveOnExit: true
-Toolbars:
-  toolButtonStyle: 2
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.029999999329447746
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Alpha: 1
-      Class: rviz_plugin_tutorials/Imu
-      Color: 204; 51; 204
-      Enabled: true
-      History Length: 1
-      Name: Imu (data)
-      Queue Size: 10
-      Topic: /imu/data
-      Unreliable: false
-      Value: true
-    - Alpha: 0.10000000149011612
-      Class: rviz_plugin_tutorials/Imu
-      Color: 57; 52; 204
-      Enabled: true
-      History Length: 1
-      Name: Imu (raw data)
-      Queue Size: 10
-      Topic: /imu/data_raw
-      Unreliable: false
-      Value: true
-    - Alpha: 1
-      Class: rviz/Axes
-      Enabled: true
-      Length: 5
-      Name: Axes (Fixed Frame)
-      Radius: 0.10000000149011612
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Alpha: 1
-      Class: rviz/Axes
-      Enabled: true
-      Length: 5
-      Name: Axes (enu_link)
-      Radius: 0.10000000149011612
-      Reference Frame: enu_link
-      Value: true
-    - Alpha: 1
-      Class: rviz/Axes
-      Enabled: true
-      Length: 5
-      Name: Axes (imu_link)
-      Radius: 0.10000000149011612
-      Reference Frame: imu_link
-      Value: true
-    - Alpha: 1
-      Class: rviz/Axes
-      Enabled: true
-      Length: 5
-      Name: Axes (ekf_link)
-      Radius: 0.10000000149011612
-      Reference Frame: ekf_link
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 249; 249; 249
-    Default Light: true
-    Fixed Frame: map
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/FocusCamera
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Theta std deviation: 0.2617993950843811
-      Topic: /initialpose
-      X std deviation: 0.5
-      Y std deviation: 0.5
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 24.478668212890625
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Field of View: 0.7853981852531433
-      Focal Point:
-        X: -1.5147979259490967
-        Y: -1.228423833847046
-        Z: 1.93975031375885
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.785398006439209
-      Target Frame: <Fixed Frame>
-      Yaw: 0.785398006439209
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 846
-  Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001ba000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000100000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055c0000003efc0100000002fb0000000800540069006d006501000000000000055c0000023f00fffffffb0000000800540069006d0065010000000000000450000000000000000000000296000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1372
-  X: 0
-  Y: 0
diff --git a/src/ekf.cpp b/src/ekf.cpp
index bea2d15..c85ddcf 100644
--- a/src/ekf.cpp
+++ b/src/ekf.cpp
@@ -1,7 +1,7 @@
 /******************************************************************************
 	                  IMU Fusion Library ROS Wrapper
 	                     Extended Kalman Filter
-          Copyright (C) 2019, 2020 Walter Fetter Lages <w.fetter@ieee.org>
+          Copyright (C) 2019..2025 Walter Fetter Lages <w.fetter@ieee.org>
 
         This program is free software: you can redistribute it and/or modify
         it under the terms of the GNU General Public License as published by
@@ -19,28 +19,27 @@
         
 *******************************************************************************/
 
-#include <ros/ros.h>
+#include <rclcpp/rclcpp.hpp>
 
-#include <sensor_msgs/Imu.h>
-#include <sensor_msgs/MagneticField.h>
+#include <sensor_msgs/msg/imu.hpp>
+#include <sensor_msgs/msg/magnetic_field.hpp>
 
-#include <eigen_conversions/eigen_msg.h>
+#include <tf2_eigen/tf2_eigen.hpp>
 
 #include <ekf.hpp>
 
-class EkfNode
+class EkfNode: public rclcpp::Node
 {
 	public:
-	EkfNode(const ros::NodeHandle &node,const char *frameId);
+	EkfNode(const char *name,const char *frameId);
 	~EkfNode(void);
 	void update(void);
 	void publish(void);
 
 	private:
-	ros::NodeHandle node_;
-	ros::Subscriber imuSubscriber_;
-	ros::Subscriber magSubscriber_;
-	ros::Publisher imuPublisher_;
+	rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imuSubscriber_;
+	rclcpp::Subscription<sensor_msgs::msg::MagneticField>::SharedPtr magSubscriber_;
+	rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imuPublisher_;
 	std::string frameId_;
 	
 	Eigen::Vector3d accel_;
@@ -51,22 +50,21 @@ class EkfNode
 	Eigen::Matrix3d magCovariance_;
 	Eigen::Matrix3d gyroCovariance_;
 	
-	imufusion::Ekf *ekf;
+	imufusion::Ekf *ekf_;
 
-	bool imuAvailable;
-	bool magAvailable;
+	bool imuAvailable_;
+	bool magAvailable_;
 
-	void imuCB(const sensor_msgs::Imu::ConstPtr &imuMsg);
-	void magCB(const sensor_msgs::MagneticField::ConstPtr &magMsg);
+	void imuCB(const sensor_msgs::msg::Imu::SharedPtr imuMsg);
+	void magCB(const sensor_msgs::msg::MagneticField::SharedPtr magMsg);
 	
 	public:
 	
 	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
-EkfNode::EkfNode(const ros::NodeHandle &node,const char *frameId)
+EkfNode::EkfNode(const char *name,const char *frameId):Node(name)
 {
-	node_=node;
 	frameId_=frameId;
 
 	accel_.setZero();
@@ -75,18 +73,18 @@ EkfNode::EkfNode(const ros::NodeHandle &node,const char *frameId)
 	accelCovariance_.setZero();
 	gyroCovariance_.setZero();
 
-	imuAvailable=false;
-	magAvailable=false;
+	imuAvailable_=false;
+	magAvailable_=false;
 
-	imuSubscriber_=node_.subscribe("imu/data_raw",10,&EkfNode::imuCB,this);
-	magSubscriber_=node_.subscribe("imu/mag",10,&EkfNode::magCB,this);
-	imuPublisher_=node_.advertise<sensor_msgs::Imu>("imu/data",10);
+	imuSubscriber_=create_subscription<sensor_msgs::msg::Imu>("imu/data_raw",10,std::bind(&EkfNode::imuCB,this,std::placeholders::_1));
+	magSubscriber_=create_subscription<sensor_msgs::msg::MagneticField>("imu/mag",10,std::bind(&EkfNode::magCB,this,std::placeholders::_1));
+	imuPublisher_=create_publisher<sensor_msgs::msg::Imu>("imu/data",10);
 
 	Eigen::MatrixXd Pw(7,7);
 	Pw.setIdentity();
 	std::vector<double> PwDiag;
-	ros::NodeHandle nh("~");
-	if(nh.getParam("Pw",PwDiag))
+	declare_parameter("Pw",rclcpp::PARAMETER_DOUBLE_ARRAY);
+	if(this->get_parameter("Pw",PwDiag))
 	{
 		Eigen::Map<Eigen::VectorXd> diag(PwDiag.data(),Pw.rows());
 		Pw=diag.asDiagonal();
@@ -96,7 +94,8 @@ EkfNode::EkfNode(const ros::NodeHandle &node,const char *frameId)
 	Eigen::MatrixXd Pv(6,6);
 	Pv.setIdentity();
 	std::vector<double> PvDiag;
-	if(nh.getParam("Pv",PvDiag))
+	declare_parameter("Pv",rclcpp::PARAMETER_DOUBLE_ARRAY);
+	if(this->get_parameter("Pv",PvDiag))
 	{
 		Eigen::Map<Eigen::VectorXd> diag(PvDiag.data(),Pv.rows());
 		Pv=diag.asDiagonal();
@@ -105,56 +104,50 @@ EkfNode::EkfNode(const ros::NodeHandle &node,const char *frameId)
 
 	const double T=0.02;	// 0.01 is too fast for an UART at 115200 bps
 
-	ekf=new imufusion::Ekf(Pw,Pv,T,100);
+	ekf_=new imufusion::Ekf(Pw,Pv,T,100);
 }
 
 EkfNode::~EkfNode(void)
 {
-	imuSubscriber_.shutdown();
-	magSubscriber_.shutdown();
-	imuPublisher_.shutdown();
-	
-	delete ekf;
+	delete ekf_;
 }
 
-void EkfNode::imuCB(const sensor_msgs::Imu::ConstPtr &imuMsg)
+void EkfNode::imuCB(const sensor_msgs::msg::Imu::SharedPtr imuMsg)
 {
-	tf::vectorMsgToEigen(imuMsg->linear_acceleration,accel_);
-	tf::vectorMsgToEigen(imuMsg->angular_velocity,gyro_);
+	tf2::fromMsg(imuMsg->linear_acceleration,accel_);
+	tf2::fromMsg(imuMsg->angular_velocity,gyro_);
 	for(int i=0;i < 3;i++) for(int j=0;j < 3;j++)
 	{
 		accelCovariance_(i,j)=imuMsg->linear_acceleration_covariance[i*3+j];
 		gyroCovariance_(i,j)=imuMsg->angular_velocity_covariance[i*3+j];
 	}
-	imuAvailable=true;
+	imuAvailable_=true;
 }
 
-void EkfNode::magCB(const sensor_msgs::MagneticField::ConstPtr &magMsg)
+void EkfNode::magCB(const sensor_msgs::msg::MagneticField::SharedPtr magMsg)
 {
-	tf::vectorMsgToEigen(magMsg->magnetic_field,mag_);
+	tf2::fromMsg(magMsg->magnetic_field,mag_);
 	for(int i=0;i < 3;i++) for(int j=0;j < 3;j++)
 		magCovariance_(i,j)=magMsg->magnetic_field_covariance[i*3+j];
-	magAvailable=true;
+	magAvailable_=true;
 }
 
 void EkfNode::update(void)
 {
-	if(imuAvailable && magAvailable) ekf->update(accel_,mag_,gyro_);
+	if(imuAvailable_ && magAvailable_) ekf_->update(accel_,mag_,gyro_);
 }
 
 void EkfNode::publish(void)
 {
-	ros::Time time=ros::Time::now();
-	
-	sensor_msgs::Imu dataMsg;
-	dataMsg.header.stamp=time;
+	sensor_msgs::msg::Imu dataMsg;
+	dataMsg.header.stamp=now();
 	dataMsg.header.frame_id=frameId_;
 	
-	tf::quaternionEigenToMsg(ekf->quaternion(),dataMsg.orientation);
-	tf::vectorEigenToMsg(gyro_,dataMsg.angular_velocity);
-	tf::vectorEigenToMsg(accel_,dataMsg.linear_acceleration);
+	dataMsg.orientation=tf2::toMsg(ekf_->quaternion());
+	tf2::toMsg(gyro_,dataMsg.angular_velocity);
+	tf2::toMsg(accel_,dataMsg.linear_acceleration);
 	
-	Eigen::MatrixXd orientationCovariance=ekf->covariance();
+	Eigen::MatrixXd orientationCovariance=ekf_->covariance();
 	for(int i=0;i < 3;i++) for(int j=0;j < 3;j++)
 	{
 		dataMsg.orientation_covariance[i*3+j]=orientationCovariance(i,j);
@@ -162,29 +155,28 @@ void EkfNode::publish(void)
 		dataMsg.angular_velocity_covariance[i*3+j]=gyroCovariance_(i,j);
 	}
 
-	imuPublisher_.publish(dataMsg);
+	imuPublisher_->publish(dataMsg);
 }
 
 int main(int argc,char* argv[])
 {
-	ros::init(argc,argv,"ekf");
-	ros::NodeHandle node;
-	
-	if(argc != 2)
+	rclcpp::init(argc,argv);
+
+	if(argc < 2)
 	{
-		ROS_ERROR_STREAM("ekf: No frame id.\n");
+		std::cerr << "ekf: No frame id.\n";
 		return -1;
 	}
 	
-	EkfNode ekfNode(node,argv[1]);
+	EkfNode ekfNode("ekf",argv[1]);
 	
-	ros::Rate loop(50);
-        while(ros::ok())
+	rclcpp::Rate loop(50);
+        while(rclcpp::ok())
         {
 		ekfNode.update();
     		ekfNode.publish();
                 
-                ros::spinOnce();
+                rclcpp::spin_some(ekfNode.get_node_base_interface());
                 loop.sleep();
 	}
 	return 0;