Add GPS semantic component

[Wiktor-99]

Adding initial version of GPSSensor semantic components. I decided to add two with covariance interface and w/o interface.

It'll be followed by GPS broadcaster in ros2_controllers.

I'm open too all suggestions.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 89.40%. Comparing base (f8c03cc) to head (c4cf0e0).
Report is 2 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2000      +/-   ##
==========================================
+ Coverage   89.35%   89.40%   +0.05%     
==========================================
  Files         130      132       +2     
  Lines       14576    14663      +87     
  Branches     1258     1258              
==========================================
+ Hits        13024    13110      +86     
+ Misses       1088     1085       -3     
- Partials      464      468       +4     

Flag	Coverage Δ
unittests	89.40% <100.00%> (+0.05%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...terface/include/semantic_components/gps_sensor.hpp	100.00% <100.00%> (ø)
controller_interface/test/test_gps_sensor.cpp	100.00% <100.00%> (ø)

... and 6 files with indirect coverage changes

[saikishor]

The tests look very good. Good job @Wiktor-99

[christophfroehlich]

I never used GPS in the context of ROS. But having a look at the message definition, shouldn't we add also NavSatStatus to the component?

int8 status
uint16 service

I think this can be useful and every receiver has this as output, but is maybe depending on the used protocol like NMEA, ubx, ..

[Wiktor-99]

The status is already there. I'm not sure about service. I don't know if it can be dynamically updated, I'll check it.

[Wiktor-99]

@christophfroehlich I added service filling in the PR

[christophfroehlich]

Thanks, LGTM!

[saikishor]

Thanks for going through all the changes. This is good work

LGTM

[saikishor]

LGTM

[Maverobot]

LGTM. Thanks for the good work! :)

[saikishor]

LGTM

[christophfroehlich]

LGTM, thanks for the follow ups!