Bump fixposition-sdk

create_ros_ws.sh

@@ -121,10 +121,8 @@ function main
     ln -s ${srcpath}/fixposition_driver_msgs              ${abspath}/src
     ln -s ${srcpath}/rtcm_msgs                            ${abspath}/src
     if [ ${rosver} -eq 1 ]; then
-        ln -s ${srcpath}/fixposition-sdk/fpsdk_ros1           ${abspath}/src
         ln -s ${srcpath}/fixposition_driver_ros1              ${abspath}/src
     else
-        ln -s ${srcpath}/fixposition-sdk/fpsdk_ros2           ${abspath}/src
         ln -s ${srcpath}/fixposition_driver_ros2              ${abspath}/src
     fi
 
@@ -133,9 +131,9 @@ function main
     if [ ${rosver} -eq 1 ]; then
         catkin init
         if [ ${dev} -gt 0 ]; then
-            catkin config --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_BUILD_TYPE=Debug
+            catkin config --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_BUILD_TYPE=Debug -DFPSDK_BUILD_TESTING=OFF
         else
-            catkin config --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_BUILD_TYPE=Release
+            catkin config --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_BUILD_TYPE=Release -DFPSDK_BUILD_TESTING=OFF
         fi
     else
         echo 'build:' > ${abspath}/colcon_defaults.yaml

fixposition_driver.code-workspace

@@ -57,15 +57,29 @@
         // https://code.visualstudio.com/docs/cpp/c-cpp-properties-schema-reference)
         "C_Cpp.default.includePath":           [
             "${workspaceFolder}/fixposition-sdk/fpsdk_common/**",
-            "${workspaceFolder}/fixposition-sdk/fpsdk_ros1/**",
-            "${workspaceFolder}/fixposition-sdk/fpsdk_ros2/**",
             "${workspaceFolder}/fixposition-sdk/fpsdk_apps/**",
             "${workspaceFolder}/fixposition_driver_lib/**",
             "${workspaceFolder}/fixposition_driver_ros1/**",
             "${workspaceFolder}/fixposition_driver_ros2/**",
             "/opt/ros/noetic/include/**", "/opt/ros/humble/include/**", "/opt/ros/jazzy/include/**", "/opt/ros/lyrical/include/**" ],
-        "C_Cpp.default.defines":               [ "FP_USE_ROS1" ],
-        //"C_Cpp.default.compileCommands":       "",
+        "C_Cpp.default.defines":               [ ],
+        "C_Cpp.default.compileCommands":       [
+            // "${workspaceFolder}/ros2_ws/build/fixposition_driver_msgs/compile_commands.json",
+            // "${workspaceFolder}/ros2_ws/build/fpsdk_apps/compile_commands.json",
+            // "${workspaceFolder}/ros2_ws/build/fixposition_driver_lib/compile_commands.json",
+            // "${workspaceFolder}/ros2_ws/build/fpsdk_common/compile_commands.json",
+            // "${workspaceFolder}/ros2_ws/build/rtcm_msgs/compile_commands.json",
+            // "${workspaceFolder}/ros2_ws/build/fixposition_driver_ros2/compile_commands.json",
+            "${workspaceFolder}/ros2_ws/build/compile_commands.json",
+            //
+            "${workspaceFolder}/ros1_ws/build/fixposition_driver_msgs/compile_commands.json",
+            "${workspaceFolder}/ros1_ws/build/fpsdk_apps/compile_commands.json",
+            "${workspaceFolder}/ros1_ws/build/fixposition_driver_lib/compile_commands.json",
+            "${workspaceFolder}/ros1_ws/build/fpsdk_common/compile_commands.json",
+            "${workspaceFolder}/ros1_ws/build/rtcm_msgs/compile_commands.json",
+            "${workspaceFolder}/ros1_ws/build/fixposition_driver_ros1/compile_commands.json",
+            "${workspaceFolder}/ros1_ws/build/catkin_tools_prebuild/compile_commands.json"
+        ],
         //"C_Cpp.default.forcedIncludes":      [ ],
         "C_Cpp.default.intelliSenseMode":        "gcc-x64",
         "C_Cpp.default.compilerPath":            "/usr/bin/gcc",

fixposition_driver_lib/CMakeLists.txt

@@ -24,6 +24,7 @@ set(_unused "${CMAKE_C_COMPILER}") # suppress warning
 find_package(Boost 1.65.0 REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(fpsdk_common REQUIRED)
+find_package(Threads REQUIRED)
 
 include_directories(include
   ${EIGEN3_INCLUDE_DIR}

fixposition_driver_lib/package.xml

@@ -18,9 +18,6 @@
     <depend condition="$ROS_VERSION == 1">message_generation</depend>
     <depend condition="$ROS_VERSION == 1">message_runtime</depend>
     <depend>fpsdk_common</depend>
-    <depend condition="$ROS_VERSION == 1">fpsdk_ros1</depend>
-    <depend condition="$ROS_VERSION == 2">fpsdk_ros2</depend>
-
     <export>
         <build_type>cmake</build_type>
     </export>

fixposition_driver_msgs/CMakeLists.txt

@@ -32,6 +32,7 @@ find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
+find_package(Threads REQUIRED)
 
 
 # BUILD, INSTALL =======================================================================================================

fixposition_driver_msgs/package.xml

@@ -20,8 +20,6 @@
     <depend>sensor_msgs</depend>
     <depend>fixposition_driver_lib</depend>
     <depend>fpsdk_common</depend>
-    <depend condition="$ROS_VERSION == 1">fpsdk_ros1</depend>
-    <depend condition="$ROS_VERSION == 2">fpsdk_ros2</depend>
 
     <exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
     <exec_depend condition="$ROS_VERSION == 2">rosidl_default_runtime</exec_depend>

fixposition_driver_ros1/CMakeLists.txt

@@ -25,7 +25,7 @@ find_package(Eigen3 REQUIRED)
 find_package(fixposition_driver_lib REQUIRED)
 find_package(fixposition_driver_msgs REQUIRED)
 find_package(fpsdk_common REQUIRED)
-find_package(fpsdk_ros1 REQUIRED)
+find_package(Threads REQUIRED)
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   tf
@@ -54,7 +54,7 @@ include_directories(
   ${fixposition_driver_msgs_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIR}
   ${Boost_INCLUDE_DIR}
-  ${fpsdk_common_INLCUDE_DIRS} ${fpsdk_ros1_INLCUDE_DIRS}
+  ${fpsdk_common_INLCUDE_DIRS}
 )
 
 
@@ -72,7 +72,7 @@ target_link_libraries(
   ${catkin_LIBRARIES}
   ${fixposition_driver_lib_LIBRARIES}
   ${Boost_LIBRARIES}
-  ${fpsdk_common_LIBRARIES} ${fpsdk_ros1_LIBRARIES}
+  ${fpsdk_common_LIBRARIES}
   pthread
 )
 

fixposition_driver_ros1/include/fixposition_driver_ros1/data_to_ros1.hpp

@@ -23,7 +23,8 @@
 #include <fixposition_driver_lib/helper.hpp>
 #include <fpsdk_common/parser/fpa.hpp>
 #include <fpsdk_common/parser/novb.hpp>
-#include <fpsdk_ros1/ext/ros.hpp>
+
+#include "fixposition_driver_ros1/ext/ros.hpp"
 
 /* PACKAGE */
 #include "ros1_msgs.hpp"

fixposition_driver_ros1/include/fixposition_driver_ros1/ext/eigen_conversions.hpp

@@ -0,0 +1,20 @@
+// Wrapper to suppress warnings from ROS headers
+#ifndef __FIXPOSITION_DRIVER_ROS1_EXT_EIGEN_CONVERSIONS_HPP__
+#define __FIXPOSITION_DRIVER_ROS1_EXT_EIGEN_CONVERSIONS_HPP__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wall"
+#pragma GCC diagnostic ignored "-Wextra"
+#pragma GCC diagnostic ignored "-Wpedantic"
+#pragma GCC diagnostic ignored "-Wunused-parameter"
+#pragma GCC diagnostic ignored "-Wshadow"
+#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
+#if defined(__GNUC__) && (__GNUC__ >= 9)
+#pragma GCC diagnostic ignored "-Wdeprecated-copy"
+#endif
+#include <eigen_conversions/eigen_msg.h>
+#pragma GCC diagnostic pop
+// See commentes in fp_common/ext/eigen_core.hpp
+#if !EIGEN_VERSION_AT_LEAST(3, 4, 0) && defined(__GNUC__) && (__GNUC__ >= 9)
+#pragma GCC diagnostic ignored "-Wdeprecated-copy"
+#endif
+#endif  // __FIXPOSITION_DRIVER_ROS1_EXT_EIGEN_CONVERSIONS_HPP__

fixposition_driver_ros1/include/fixposition_driver_ros1/ext/ros.hpp

@@ -0,0 +1,10 @@
+// Wrapper to suppress warnings from ROS headers
+#ifndef __FIXPOSITION_DRIVER_ROS1_EXT_ROS_HPP__
+#define __FIXPOSITION_DRIVER_ROS1_EXT_ROS_HPP__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wpedantic"
+#pragma GCC diagnostic ignored "-Wunused-parameter"
+#pragma GCC diagnostic ignored "-Wshadow"
+#include <ros/ros.h>
+#pragma GCC diagnostic pop
+#endif  // __FIXPOSITION_DRIVER_ROS1_EXT_ROS_HPP__

fixposition_driver_ros1/include/fixposition_driver_ros1/fixposition_driver_node.hpp

@@ -20,7 +20,8 @@
 
 /* EXTERNAL */
 #include <fixposition_driver_lib/helper.hpp>
-#include <fpsdk_ros1/ext/ros.hpp>
+
+#include "fixposition_driver_ros1/ext/ros.hpp"
 
 /* PACKAGE */
 #include "data_to_ros1.hpp"

fixposition_driver_ros1/package.xml

@@ -20,5 +20,4 @@
     <depend>tf2_ros</depend>
     <depend>tf2_geometry_msgs</depend>
     <depend>fpsdk_common</depend>
-    <depend>fpsdk_ros1</depend>
 </package>

fixposition_driver_ros1/src/data_to_ros1.cpp

@@ -17,10 +17,11 @@
 /* EXTERNAL */
 #include <fixposition_driver_msgs/data_to_ros.hpp>
 #include <fpsdk_common/math.hpp>
+#include <fpsdk_common/ros1.hpp>
 #include <fpsdk_common/time.hpp>
 #include <fpsdk_common/trafo.hpp>
-#include <fpsdk_ros1/ext/eigen_conversions.hpp>
-#include <fpsdk_ros1/utils.hpp>
+
+#include "fixposition_driver_ros1/ext/eigen_conversions.hpp"
 
 /* PACKAGE */
 #include "fixposition_driver_ros1/data_to_ros1.hpp"
@@ -49,15 +50,15 @@ static void TwistWithCovDataToMsg(const TwistWithCovData& data, geometry_msgs::T
 }
 
 void TfDataToTransformStamped(const TfData& data, geometry_msgs::TransformStamped& msg) {
-    msg.header.stamp = ros1::utils::ConvTime(data.stamp);
+    msg.header.stamp = ros1::ConvTime(data.stamp);
     msg.header.frame_id = data.frame_id;
     msg.child_frame_id = data.child_frame_id;
     tf::quaternionEigenToMsg(data.rotation, msg.transform.rotation);
     tf::vectorEigenToMsg(data.translation, msg.transform.translation);
 }
 
 void OdometryDataToTransformStamped(const OdometryData& data, geometry_msgs::TransformStamped& msg) {
-    msg.header.stamp = ros1::utils::ConvTime(data.stamp);
+    msg.header.stamp = ros1::ConvTime(data.stamp);
     msg.header.frame_id = data.frame_id;
     msg.child_frame_id = data.child_frame_id;
     tf::quaternionEigenToMsg(data.pose.orientation, msg.transform.rotation);
@@ -68,7 +69,7 @@ void OdometryDataToTransformStamped(const OdometryData& data, geometry_msgs::Tra
 
 template <typename SomeFpaOdoPayload, typename SomeOdoMsg>
 static void FpaOdomToRos(const SomeFpaOdoPayload& payload, SomeOdoMsg& msg) {
-    msg.header.stamp = ros1::utils::ConvTime(FpaGpsTimeToTime(payload.gps_time));
+    msg.header.stamp = ros1::ConvTime(FpaGpsTimeToTime(payload.gps_time));
 
     msg.fusion_status = FpaFusionStatusLegacyToMsg(msg, payload.fusion_status);
     msg.imu_bias_status = FpaImuStatusLegacyToMsg(msg, payload.imu_bias_status);
@@ -138,7 +139,7 @@ void PublishFpaOdomsh(const fpa::FpaOdomshPayload& payload, ros::Publisher& pub)
 void PublishFpaOdometryDataImu(const fpa::FpaOdometryPayload& payload, bool nav2_mode_, ros::Publisher& pub) {
     if (pub.getNumSubscribers() > 0) {
         sensor_msgs::Imu msg;
-        msg.header.stamp = ros1::utils::ConvTime(FpaGpsTimeToTime(payload.gps_time));
+        msg.header.stamp = ros1::ConvTime(FpaGpsTimeToTime(payload.gps_time));
         if (nav2_mode_) {
             msg.header.frame_id = "vrtk_link";
         } else {
@@ -155,7 +156,7 @@ void PublishFpaOdometryDataImu(const fpa::FpaOdometryPayload& payload, bool nav2
 void PublishFpaOdometryDataNavSatFix(const fpa::FpaOdometryPayload& payload, bool nav2_mode_, ros::Publisher& pub) {
     if (pub.getNumSubscribers() > 0) {
         sensor_msgs::NavSatFix msg;
-        msg.header.stamp = ros1::utils::ConvTime(FpaGpsTimeToTime(payload.gps_time));
+        msg.header.stamp = ros1::ConvTime(FpaGpsTimeToTime(payload.gps_time));
         if (nav2_mode_) {
             msg.header.frame_id = "vrtk_link";
         } else {
@@ -209,7 +210,7 @@ void PublishFpaOdomenuVector3Stamped(const fpa::FpaOdomenuPayload& payload, ros:
     if (pub.getNumSubscribers() > 0) {
         geometry_msgs::Vector3Stamped msg;
 
-        msg.header.stamp = ros1::utils::ConvTime(FpaGpsTimeToTime(payload.gps_time));
+        msg.header.stamp = ros1::ConvTime(FpaGpsTimeToTime(payload.gps_time));
         msg.header.frame_id = ODOMENU_FRAME_ID;
 
         const Eigen::Quaterniond quat = {payload.orientation.values[0], payload.orientation.values[1],
@@ -229,7 +230,7 @@ void PublishFpaOdomenuVector3Stamped(const fpa::FpaOdomenuPayload& payload, ros:
 
 static void FpaOdomstatusToMsg(const fpa::FpaOdomstatusPayload& payload, fixposition_driver_msgs::FpaOdomstatus& msg) {
     // clang-format off
-    msg.header.stamp    = ros1::utils::ConvTime(FpaGpsTimeToTime(payload.gps_time));
+    msg.header.stamp    = ros1::ConvTime(FpaGpsTimeToTime(payload.gps_time));
     msg.init_status     = FpaInitStatusToMsg(msg, payload.init_status);
     msg.fusion_imu      = FpaMeasStatusToMsg(msg, payload.fusion_imu);
     msg.fusion_gnss1    = FpaMeasStatusToMsg(msg, payload.fusion_gnss1);
@@ -268,7 +269,7 @@ void PublishFpaOdomstatus(const fpa::FpaOdomstatusPayload& payload, ros::Publish
 void PublishFpaLlh(const fpa::FpaLlhPayload& payload, ros::Publisher& pub) {
     if (pub.getNumSubscribers() > 0) {
         fixposition_driver_msgs::FpaLlh msg;
-        msg.header.stamp = ros1::utils::ConvTime(FpaGpsTimeToTime(payload.gps_time));
+        msg.header.stamp = ros1::ConvTime(FpaGpsTimeToTime(payload.gps_time));
         msg.header.frame_id = ODOMETRY_CHILD_FRAME_ID;
         FpaFloat3ToVector3(payload.llh, msg.position);
         if (payload.cov_enu.valid) {
@@ -285,7 +286,7 @@ void PublishFpaLlh(const fpa::FpaLlhPayload& payload, ros::Publisher& pub) {
 void PublishFpaEoe(const fpa::FpaEoePayload& payload, ros::Publisher& pub) {
     if (pub.getNumSubscribers() > 0) {
         fixposition_driver_msgs::FpaEoe msg;
-        msg.header.stamp = ros1::utils::ConvTime(FpaGpsTimeToTime(payload.gps_time));
+        msg.header.stamp = ros1::ConvTime(FpaGpsTimeToTime(payload.gps_time));
         msg.epoch = FpaEpochToMsg(msg, payload.epoch);
         pub.publish(msg);
     }
@@ -294,7 +295,7 @@ void PublishFpaEoe(const fpa::FpaEoePayload& payload, ros::Publisher& pub) {
 // ---------------------------------------------------------------------------------------------------------------------
 
 static void FpaImubiasToMsg(const fpa::FpaImubiasPayload& payload, fixposition_driver_msgs::FpaImubias& msg) {
-    msg.header.stamp = ros1::utils::ConvTime(FpaGpsTimeToTime(payload.gps_time));
+    msg.header.stamp = ros1::ConvTime(FpaGpsTimeToTime(payload.gps_time));
     msg.header.frame_id = IMU_FRAME_ID;
     msg.fusion_imu = FpaMeasStatusToMsg(msg, payload.fusion_imu);
     msg.imu_status = FpaImuStatusToMsg(msg, payload.imu_status);
@@ -319,7 +320,7 @@ void PublishFpaImubias(const fpa::FpaImubiasPayload& payload, ros::Publisher& pu
 void PublishFpaGnssant(const fpa::FpaGnssantPayload& payload, ros::Publisher& pub) {
     if (pub.getNumSubscribers() > 0) {
         fixposition_driver_msgs::FpaGnssant msg;
-        msg.header.stamp = ros1::utils::ConvTime(FpaGpsTimeToTime(payload.gps_time));
+        msg.header.stamp = ros1::ConvTime(FpaGpsTimeToTime(payload.gps_time));
         msg.gnss1_state = FpaAntStateToMsg(msg, payload.gnss1_state);
         msg.gnss1_power = FpaAntPowerToMsg(msg, payload.gnss1_power);
         msg.gnss1_age = (payload.gnss1_age.valid ? payload.gnss1_age.value : -1);
@@ -335,7 +336,7 @@ void PublishFpaGnssant(const fpa::FpaGnssantPayload& payload, ros::Publisher& pu
 void PublishFpaGnsscorr(const fpa::FpaGnsscorrPayload& payload, ros::Publisher& pub) {
     if (pub.getNumSubscribers() > 0) {
         fixposition_driver_msgs::FpaGnsscorr msg;
-        msg.header.stamp = ros1::utils::ConvTime(FpaGpsTimeToTime(payload.gps_time));
+        msg.header.stamp = ros1::ConvTime(FpaGpsTimeToTime(payload.gps_time));
         msg.gnss1_fix = FpaGnssFixToMsg(msg, payload.gnss1_fix);
         msg.gnss1_nsig_l1 = (payload.gnss1_nsig_l1.valid ? payload.gnss1_nsig_l1.value : -1);
         msg.gnss1_nsig_l2 = (payload.gnss1_nsig_l2.valid ? payload.gnss1_nsig_l2.value : -1);
@@ -383,7 +384,7 @@ void PublishFpaText(const fpa::FpaTextPayload& payload, ros::Publisher& pub) {
 
 template <typename SomeFpaImuPayload>
 static void FpaImuPayloadToRos(const SomeFpaImuPayload& payload, sensor_msgs::Imu& msg) {
-    msg.header.stamp = ros1::utils::ConvTime(FpaGpsTimeToTime(payload.gps_time));
+    msg.header.stamp = ros1::ConvTime(FpaGpsTimeToTime(payload.gps_time));
     msg.header.frame_id = IMU_FRAME_ID;
     if (payload.acc.valid) {
         msg.linear_acceleration.x = payload.acc.values[0];
@@ -433,7 +434,7 @@ bool PublishNovbBestgnsspos(const novb::NovbHeader* header, const novb::NovbBest
         time::Time stamp;
         if (stamp.SetWnoTow({header->long_header.gps_week, (double)header->long_header.gps_milliseconds * 1e-3,
                              time::WnoTow::Sys::GPS})) {
-            msg.header.stamp = ros1::utils::ConvTime(stamp);
+            msg.header.stamp = ros1::ConvTime(stamp);
         }
 
         msg.header.frame_id = (header->Source() == novb::NovbMsgTypeSource::PRIMARY ? GNSS1_FRAME_ID : GNSS2_FRAME_ID);
@@ -468,7 +469,7 @@ static void NovbInspvaxToMsg(const novb::NovbHeader* header, const novb::NovbIns
         time::Time stamp;
         if (stamp.SetWnoTow({header->long_header.gps_week, (double)header->long_header.gps_milliseconds * 1e-3,
                              time::WnoTow::Sys::GPS})) {
-            msg.header.stamp = ros1::utils::ConvTime(stamp);
+            msg.header.stamp = ros1::ConvTime(stamp);
         }
 
         msg.ins_status = payload->ins_status;
@@ -514,7 +515,7 @@ static void NovbHeading2ToMsg(const novb::NovbHeader* header, const novb::NovbHe
         time::Time stamp;
         if (stamp.SetWnoTow({header->long_header.gps_week, (double)header->long_header.gps_milliseconds * 1e-3,
                              time::WnoTow::Sys::GPS})) {
-            msg.header.stamp = ros1::utils::ConvTime(stamp);
+            msg.header.stamp = ros1::ConvTime(stamp);
         }
 
         msg.sol_status = payload->sol_status;
@@ -763,7 +764,7 @@ void PublishParserMsg(const fpsdk::common::parser::ParserMsg& msg, ros::Publishe
 void PublishNmeaEpochData(const NmeaEpochData& data, ros::Publisher& pub) {
     if (pub.getNumSubscribers() > 0) {
         fixposition_driver_msgs::NmeaEpoch msg;
-        msg.header.stamp = ros1::utils::ConvTime(data.stamp_);
+        msg.header.stamp = ros1::ConvTime(data.stamp_);
         msg.header.frame_id = data.frame_id_;
         if (data.date_.valid) {
             msg.date_valid = true;
@@ -837,7 +838,7 @@ void PublishNmeaEpochData(const NmeaEpochData& data, ros::Publisher& pub) {
 void PublishOdometryData(const OdometryData& data, ros::Publisher& pub) {
     if (pub.getNumSubscribers() > 0) {
         nav_msgs::Odometry msg;
-        msg.header.stamp = ros1::utils::ConvTime(data.stamp);
+        msg.header.stamp = ros1::ConvTime(data.stamp);
         msg.header.frame_id = data.frame_id;
         msg.child_frame_id = data.child_frame_id;
         PoseWithCovDataToMsg(data.pose, msg.pose);
@@ -851,7 +852,7 @@ void PublishOdometryData(const OdometryData& data, ros::Publisher& pub) {
 void PublishJumpWarning(const JumpDetector& jump_detector, ros::Publisher& pub) {
     if (pub.getNumSubscribers() > 0) {
         fixposition_driver_msgs::CovWarn msg;
-        msg.header.stamp = ros1::utils::ConvTime(jump_detector.curr_stamp_);
+        msg.header.stamp = ros1::ConvTime(jump_detector.curr_stamp_);
         tf::vectorEigenToMsg(jump_detector.pos_diff_, msg.jump);
         msg.covariance.x = jump_detector.prev_cov_(0, 0);
         msg.covariance.y = jump_detector.prev_cov_(1, 1);
@@ -890,7 +891,7 @@ void PublishDatum(const geometry_msgs::Vector3& payload, const ros::Time& stamp,
 void PublishFusionEpochData(const FusionEpochData& data, ros::Publisher& pub) {
     if (pub.getNumSubscribers() > 0) {
         fixposition_driver_msgs::FusionEpoch msg;
-        msg.header.stamp = ros1::utils::ConvTime(FpaGpsTimeToTime(data.fpa_eoe_.gps_time));
+        msg.header.stamp = ros1::ConvTime(FpaGpsTimeToTime(data.fpa_eoe_.gps_time));
         if (data.fpa_odometry_avail_) {
             msg.fpa_odometry_avail = true;
             FpaOdometryToMsg(data.fpa_odometry_, msg.fpa_odometry);