mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-24 07:09:48 +08:00
PX4 ROS2 msg conformity and explicit topics
- .msg files are PascalCase - topics are still either per msg or explicitly listed in TOPICS - compatible structs are still generated (eg struct msg_s), but ROS2 style px4::msg::Msg is also available
This commit is contained in:
Daniel Agar
@@ -28,7 +28,7 @@ pipeline {
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]
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def base_builds = [
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target: ["px4_sitl_rtps"],
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target: ["px4_sitl_default"],
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image: docker_images.base,
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archive: false
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]
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@@ -63,23 +63,17 @@ pipeline {
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"matek_gnss-m9n-f4_canbootloader",
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"matek_gnss-m9n-f4_default",
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"modalai_fc-v1_default",
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"modalai_fc-v1_rtps",
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"modalai_fc-v2_default",
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"mro_ctrl-zero-f7_default",
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"mro_ctrl-zero-f7-oem_default",
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"mro_ctrl-zero-h7_default",
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"mro_ctrl-zero-h7_rtps",
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"mro_ctrl-zero-h7-oem_default",
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"mro_ctrl-zero-h7-oem_rtps",
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"mro_pixracerpro_default",
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"mro_pixracerpro_rtps",
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"mro_x21-777_default",
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"mro_x21_default",
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"nxp_fmuk66-e_default",
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"nxp_fmuk66-e_rtps",
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"nxp_fmuk66-e_socketcan",
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"nxp_fmuk66-v3_default",
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"nxp_fmuk66-v3_rtps",
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"nxp_fmuk66-v3_socketcan",
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"nxp_fmurt1062-v1_default",
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"nxp_ucans32k146_canbootloader",
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@@ -95,7 +89,6 @@ pipeline {
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"px4_fmu-v4pro_default",
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"px4_fmu-v5_debug",
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"px4_fmu-v5_default",
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"px4_fmu-v5_rtps",
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"px4_fmu-v5_stackcheck",
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"px4_fmu-v5_uavcanv0periph",
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"px4_fmu-v5_uavcanv1",
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@@ -23,7 +23,6 @@ jobs:
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"shellcheck_all",
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"NO_NINJA_BUILD=1 px4_fmu-v5_default",
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"NO_NINJA_BUILD=1 px4_sitl_default",
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"BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
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"airframe_metadata",
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"module_documentation",
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"parameters_metadata",
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@@ -115,43 +115,3 @@ jobs:
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cd Tools/uorb_graph
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ls -ls *
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# TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
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micrortps_agent:
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runs-on: ubuntu-latest
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container: px4io/px4-dev-base-focal:2021-09-08
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steps:
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- uses: actions/checkout@v1
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with:
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token: ${{ secrets.ACCESS_TOKEN }}
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- name: microRTPS agent
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run: |
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make px4_sitl_rtps
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git clone https://github.com/PX4/micrortps_agent.git
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cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
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ROS_msgs:
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runs-on: ubuntu-latest
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container: px4io/px4-dev-base-focal:2021-09-08
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steps:
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- uses: actions/checkout@v1
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with:
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token: ${{ secrets.ACCESS_TOKEN }}
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- name: PX4 ROS msgs
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run: |
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git clone https://github.com/PX4/px4_msgs.git
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python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
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ROS2_bridge:
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runs-on: ubuntu-latest
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container: px4io/px4-dev-base-focal:2021-09-08
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steps:
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- uses: actions/checkout@v1
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with:
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token: ${{ secrets.ACCESS_TOKEN }}
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- name: PX4 ROS2 bridge
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run: |
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git clone https://github.com/PX4/px4_ros_com.git
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./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
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@@ -18,10 +18,6 @@
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path = src/drivers/gps/devices
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url = https://github.com/PX4/PX4-GPSDrivers.git
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branch = master
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[submodule "src/modules/micrortps_bridge/micro-CDR"]
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path = src/modules/micrortps_bridge/micro-CDR
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url = https://github.com/PX4/Micro-CDR.git
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branch = master
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[submodule "platforms/nuttx/NuttX/nuttx"]
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path = platforms/nuttx/NuttX/nuttx
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url = https://github.com/PX4/NuttX.git
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Vendored
+5
-5
@@ -6,11 +6,6 @@ CONFIG:
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buildType: RelWithDebInfo
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settings:
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CONFIG: px4_sitl_default
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px4_sitl_rtps:
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short: px4_sitl_rtps
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buildType: RelWithDebInfo
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settings:
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CONFIG: px4_sitl_rtps
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px4_sitl_asan:
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short: px4_sitl (AddressSanitizer)
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buildType: AddressSanitizer
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@@ -31,6 +26,11 @@ CONFIG:
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buildType: RelWithDebInfo
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settings:
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CONFIG: px4_sitl_test
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px4_ros2_default:
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short: px4_ros2
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buildType: RelWithDebInfo
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settings:
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CONFIG: px4_ros2_default
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px4_io-v2_default:
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short: px4_io-v2
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buildType: MinSizeRel
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Vendored
+5
-2
@@ -6,7 +6,7 @@
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"C_Cpp.autoAddFileAssociations": false,
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"C_Cpp.clang_format_fallbackStyle": "none",
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"C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
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"C_Cpp.default.cppStandard": "c++14",
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"C_Cpp.default.cppStandard": "c++17",
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"C_Cpp.default.cStandard": "c11",
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"C_Cpp.formatting": "Disabled",
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"C_Cpp.intelliSenseEngine": "Default",
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@@ -121,6 +121,7 @@
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"variant": "cpp",
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"vector": "cpp"
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},
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"ros.distro": "foxy",
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"search.exclude": {
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"${workspaceFolder}/build": true
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},
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@@ -136,5 +137,7 @@
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"yaml.schemas": {
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"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
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},
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"cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd" // Added for rp2040
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"python.autoComplete.extraPaths": [
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"/opt/ros/foxy/lib/python3.8/site-packages"
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]
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}
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@@ -1,172 +0,0 @@
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# This file is NOT licensed under the GPLv3, which is the license for the rest
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# of YouCompleteMe.
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#
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# Here's the license text for this file:
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#
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# This is free and unencumbered software released into the public domain.
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#
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# Anyone is free to copy, modify, publish, use, compile, sell, or
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# distribute this software, either in source code form or as a compiled
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# binary, for any purpose, commercial or non-commercial, and by any
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# means.
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#
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# In jurisdictions that recognize copyright laws, the author or authors
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# of this software dedicate any and all copyright interest in the
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# software to the public domain. We make this dedication for the benefit
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# of the public at large and to the detriment of our heirs and
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# successors. We intend this dedication to be an overt act of
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# relinquishment in perpetuity of all present and future rights to this
|
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# software under copyright law.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
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# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
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# IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
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# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
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# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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# OTHER DEALINGS IN THE SOFTWARE.
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#
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# For more information, please refer to <http://unlicense.org/>
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import os
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import ycm_core
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# These are the compilation flags that will be used in case there's no
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# compilation database set (by default, one is not set).
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# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR.
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flags = [
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'-Wall',
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'-Wextra',
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'-Werror',
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#'-Wc++98-compat',
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'-Wno-long-long',
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'-Wno-variadic-macros',
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'-fexceptions',
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'-DNDEBUG',
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# You 100% do NOT need -DUSE_CLANG_COMPLETER in your flags; only the YCM
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# source code needs it.
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#'-DUSE_CLANG_COMPLETER',
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# THIS IS IMPORTANT! Without a "-std=<something>" flag, clang won't know which
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# language to use when compiling headers. So it will guess. Badly. So C++
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# headers will be compiled as C headers. You don't want that so ALWAYS specify
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# a "-std=<something>".
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# For a C project, you would set this to something like 'c99' instead of
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# 'c++14'.
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'-std=c++14',
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# ...and the same thing goes for the magic -x option which specifies the
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# language that the files to be compiled are written in. This is mostly
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# relevant for c++ headers.
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# For a C project, you would set this to 'c' instead of 'c++'.
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'-x',
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'c++',
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'-undef', # get rid of standard definitions to allow us to include arm math header
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'-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
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'-I', 'Build/px4_io-v2_default.build/nuttx-export/include/',
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'-I', './NuttX/nuttx/arch/arm/include',
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'-include', './src/include/visibility.h',
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'-I', './src',
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'-I', './src/modules',
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'-I', './src/include',
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'-I', './src/lib',
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'-I', './NuttX',
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]
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# Set this to the absolute path to the folder (NOT the file!) containing the
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# compile_commands.json file to use that instead of 'flags'. See here for
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# more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html
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#
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# Most projects will NOT need to set this to anything; you can just change the
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# 'flags' list of compilation flags. Notice that YCM itself uses that approach.
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compilation_database_folder = ''
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if os.path.exists( compilation_database_folder ):
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database = ycm_core.CompilationDatabase( compilation_database_folder )
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else:
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database = None
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SOURCE_EXTENSIONS = [ '.cpp', '.cxx', '.cc', '.c', '.m', '.mm' ]
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def DirectoryOfThisScript():
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return os.path.dirname( os.path.abspath( __file__ ) )
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def MakeRelativePathsInFlagsAbsolute( flags, working_directory ):
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if not working_directory:
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return list( flags )
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new_flags = []
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make_next_absolute = False
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path_flags = [ '-isystem', '-I', '-iquote', '--sysroot=' ]
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for flag in flags:
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new_flag = flag
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if make_next_absolute:
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make_next_absolute = False
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if not flag.startswith( '/' ):
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new_flag = os.path.join( working_directory, flag )
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for path_flag in path_flags:
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if flag == path_flag:
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make_next_absolute = True
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break
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if flag.startswith( path_flag ):
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path = flag[ len( path_flag ): ]
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new_flag = path_flag + os.path.join( working_directory, path )
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break
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if new_flag:
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new_flags.append( new_flag )
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return new_flags
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def IsHeaderFile( filename ):
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extension = os.path.splitext( filename )[ 1 ]
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return extension in [ '.h', '.hxx', '.hpp', '.hh' ]
|
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|
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|
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def GetCompilationInfoForFile( filename ):
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# The compilation_commands.json file generated by CMake does not have entries
|
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# for header files. So we do our best by asking the db for flags for a
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# corresponding source file, if any. If one exists, the flags for that file
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# should be good enough.
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if IsHeaderFile( filename ):
|
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basename = os.path.splitext( filename )[ 0 ]
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for extension in SOURCE_EXTENSIONS:
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replacement_file = basename + extension
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if os.path.exists( replacement_file ):
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compilation_info = database.GetCompilationInfoForFile(
|
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replacement_file )
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if compilation_info.compiler_flags_:
|
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return compilation_info
|
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return None
|
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return database.GetCompilationInfoForFile( filename )
|
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|
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|
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def FlagsForFile( filename, **kwargs ):
|
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if database:
|
||||
# Bear in mind that compilation_info.compiler_flags_ does NOT return a
|
||||
# python list, but a "list-like" StringVec object
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compilation_info = GetCompilationInfoForFile( filename )
|
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if not compilation_info:
|
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return None
|
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|
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final_flags = MakeRelativePathsInFlagsAbsolute(
|
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compilation_info.compiler_flags_,
|
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compilation_info.compiler_working_dir_ )
|
||||
|
||||
# NOTE: This is just for YouCompleteMe; it's highly likely that your project
|
||||
# does NOT need to remove the stdlib flag. DO NOT USE THIS IN YOUR
|
||||
# ycm_extra_conf IF YOU'RE NOT 100% SURE YOU NEED IT.
|
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#try:
|
||||
# final_flags.remove( '-stdlib=libc++' )
|
||||
#except ValueError:
|
||||
# pass
|
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else:
|
||||
relative_to = DirectoryOfThisScript()
|
||||
final_flags = MakeRelativePathsInFlagsAbsolute( flags, relative_to )
|
||||
|
||||
return {
|
||||
'flags': final_flags,
|
||||
'do_cache': True
|
||||
}
|
||||
+173
-60
@@ -1,6 +1,6 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2017 - 2019 PX4 Development Team. All rights reserved.
|
||||
# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
@@ -101,6 +101,8 @@
|
||||
|
||||
cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
|
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|
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cmake_policy(SET CMP0058 NEW)
|
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|
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set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
|
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set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
|
||||
|
||||
@@ -138,30 +140,41 @@ define_property(GLOBAL PROPERTY PX4_SRC_FILES
|
||||
BRIEF_DOCS "src files from all PX4 modules & libs"
|
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FULL_DOCS "SRC files from px4_add_{module,library}"
|
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)
|
||||
|
||||
define_property(GLOBAL PROPERTY PX4_PUBLICATIONS
|
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BRIEF_DOCS "PX4 publication topics"
|
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FULL_DOCS "List of topics published by PX4 modules"
|
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)
|
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define_property(GLOBAL PROPERTY PX4_SUBSCRIPTIONS
|
||||
BRIEF_DOCS "PX4 subscription topics"
|
||||
FULL_DOCS "List of topics subscribed by PX4 modules"
|
||||
)
|
||||
#=============================================================================
|
||||
# configuration
|
||||
#
|
||||
|
||||
set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
|
||||
# default to px4_ros2_default if building within a ROS2 colcon environment
|
||||
if((DEFINED ENV{COLCON_PREFIX_PATH}) AND (DEFINED ENV{ROS_VERSION}))
|
||||
if("$ENV{ROS_VERSION}" MATCHES "2")
|
||||
message(STATUS "ROS_VERSION: $ENV{ROS_VERSION}")
|
||||
set(CONFIG "px4_ros2_default" CACHE STRING "desired configuration") # TODO
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(NOT CONFIG)
|
||||
set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
|
||||
endif()
|
||||
|
||||
include(px4_add_module)
|
||||
set(config_module_list)
|
||||
set(config_kernel_list)
|
||||
|
||||
# Find Python
|
||||
# If using catkin, Python 2 is found since it points
|
||||
# to the Python libs installed with the ROS distro
|
||||
if (NOT CATKIN_DEVEL_PREFIX)
|
||||
find_package(PythonInterp 3)
|
||||
# We have a custom error message to tell users how to install python3.
|
||||
if (NOT PYTHONINTERP_FOUND)
|
||||
message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
|
||||
" Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
|
||||
" macOS: brew install python")
|
||||
endif()
|
||||
else()
|
||||
find_package(PythonInterp REQUIRED)
|
||||
find_package(PythonInterp 3)
|
||||
# We have a custom error message to tell users how to install python3.
|
||||
if(NOT PYTHONINTERP_FOUND)
|
||||
message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
|
||||
" Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
|
||||
" macOS: brew install python")
|
||||
endif()
|
||||
|
||||
option(PYTHON_COVERAGE "Python code coverage" OFF)
|
||||
@@ -197,10 +210,6 @@ set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
|
||||
include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
|
||||
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
|
||||
|
||||
if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
|
||||
include(init)
|
||||
endif()
|
||||
|
||||
# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
|
||||
if(NOT CMAKE_BUILD_TYPE)
|
||||
if(${PX4_PLATFORM} STREQUAL "nuttx")
|
||||
@@ -236,20 +245,18 @@ project(px4 CXX C ASM)
|
||||
|
||||
set(package-contact "px4users@googlegroups.com")
|
||||
|
||||
set(CMAKE_CXX_STANDARD 14)
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||
set(CMAKE_C_STANDARD 11)
|
||||
set(CMAKE_C_STANDARD_REQUIRED ON)
|
||||
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
|
||||
|
||||
# For the catkin build process, unset build of dynamically-linked binaries
|
||||
# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
|
||||
if (NOT CATKIN_DEVEL_PREFIX)
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
|
||||
else()
|
||||
SET(BUILD_SHARED_LIBS OFF)
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
|
||||
|
||||
if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
|
||||
include(init)
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
@@ -295,21 +302,6 @@ endif()
|
||||
|
||||
include(ccache)
|
||||
|
||||
#=============================================================================
|
||||
# find programs and packages
|
||||
#
|
||||
|
||||
# see if catkin was invoked to build this
|
||||
if (CATKIN_DEVEL_PREFIX)
|
||||
message(STATUS "catkin ENABLED")
|
||||
find_package(catkin REQUIRED)
|
||||
if (catkin_FOUND)
|
||||
catkin_package()
|
||||
else()
|
||||
message(FATAL_ERROR "catkin not found")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# get chip and chip manufacturer
|
||||
#
|
||||
@@ -321,13 +313,6 @@ if(NOT PX4_CHIP)
|
||||
message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# build flags
|
||||
#
|
||||
include(px4_add_common_flags)
|
||||
px4_add_common_flags()
|
||||
px4_os_add_flags()
|
||||
|
||||
#=============================================================================
|
||||
# board cmake init (optional)
|
||||
#
|
||||
@@ -335,6 +320,13 @@ if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake)
|
||||
include(${PX4_BOARD_DIR}/cmake/init.cmake)
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# build flags
|
||||
#
|
||||
include(px4_add_common_flags)
|
||||
px4_add_common_flags()
|
||||
px4_os_add_flags()
|
||||
|
||||
#=============================================================================
|
||||
# message, and airframe generation
|
||||
#
|
||||
@@ -416,8 +408,13 @@ add_library(parameters_interface INTERFACE)
|
||||
include(px4_add_library)
|
||||
add_subdirectory(src/lib EXCLUDE_FROM_ALL)
|
||||
|
||||
add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
|
||||
add_subdirectory(platforms EXCLUDE_FROM_ALL)
|
||||
add_subdirectory(platforms/${PX4_PLATFORM}/src/px4 EXCLUDE_FROM_ALL)
|
||||
|
||||
if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
|
||||
add_subdirectory(platforms/common/work_queue EXCLUDE_FROM_ALL)
|
||||
else()
|
||||
add_subdirectory(platforms EXCLUDE_FROM_ALL)
|
||||
endif()
|
||||
|
||||
if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
|
||||
add_subdirectory(${PX4_BOARD_DIR})
|
||||
@@ -439,6 +436,126 @@ target_link_libraries(parameters_interface INTERFACE parameters)
|
||||
# firmware added last to generate the builtin for included modules
|
||||
add_subdirectory(platforms/${PX4_PLATFORM})
|
||||
|
||||
|
||||
set(PX4_ORB_TOPIC_COUNT 0)
|
||||
|
||||
if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
|
||||
|
||||
configure_file(${CMAKE_SOURCE_DIR}/build/px4_fmu-v5x_default/uORBTopics.cpp ${CMAKE_BINARY_DIR}/uORBTopics.cpp COPYONLY)
|
||||
configure_file(${CMAKE_SOURCE_DIR}/build/px4_fmu-v5x_default/uORBTopics.hpp ${CMAKE_BINARY_DIR}/uORBTopics.hpp COPYONLY)
|
||||
|
||||
set(PX4_ORB_TOPIC_COUNT 1)
|
||||
|
||||
else()
|
||||
|
||||
get_property(publications GLOBAL PROPERTY PX4_PUBLICATIONS)
|
||||
get_property(subscriptions GLOBAL PROPERTY PX4_SUBSCRIPTIONS)
|
||||
|
||||
# TODO: for now combine subsriptions and publications for complete topic list
|
||||
list(APPEND publications ${subscriptions})
|
||||
|
||||
list(SORT publications)
|
||||
list(REMOVE_DUPLICATES publications)
|
||||
|
||||
set(pub_all_topics)
|
||||
set(PX4_MSG_TYPE_ID)
|
||||
set(PX4_MSG_TOPIC_ID)
|
||||
set(PX4_MSG_TOPIC_ID_STRING)
|
||||
set(PX4_MSG_TOPIC_ORB_ID)
|
||||
|
||||
set(PX4_ORB_DECLARE_STR)
|
||||
set(PX4_ORB_DEFINE_STR)
|
||||
set(PX4_ORB_HEADER_INCLUDE_STR)
|
||||
|
||||
|
||||
foreach(pub ${publications})
|
||||
#message(STATUS "pub: ${pub}")
|
||||
string(REPLACE " /" ";" pub ${pub})
|
||||
|
||||
list(GET pub 0 pub_type)
|
||||
list(GET pub 1 pub_topic)
|
||||
|
||||
string(REPLACE "::" ";" pub_type_split ${pub_type})
|
||||
list(GET pub_type_split 2 pub_type_simple_lower)
|
||||
|
||||
# Pascal case to snake case (PubType -> pub_type)
|
||||
string(REGEX REPLACE "(.)([A-Z][a-z]+)" "\\1_\\2" pub_type_simple_lower "${pub_type_simple_lower}")
|
||||
string(REGEX REPLACE "([a-z0-9])([A-Z])" "\\1_\\2" pub_type_simple_lower "${pub_type_simple_lower}")
|
||||
string(TOLOWER "${pub_type_simple_lower}" pub_type_simple_lower)
|
||||
|
||||
#message(STATUS "pub: Type: ${pub_type}, Topic: ${pub_topic} (${pub_type_simple_lower})")
|
||||
|
||||
|
||||
|
||||
|
||||
# pub_type to include path (eg px4::msg::VehicleStatus => px4/msg/vehicle_status.hpp)
|
||||
# temporary create px4/msg/vehicle_status.hpp which simply includes <uORB/topics/vehicle_status.h>
|
||||
|
||||
|
||||
|
||||
|
||||
list(APPEND pub_all_topics ${pub_topic})
|
||||
|
||||
list(APPEND PX4_MSG_TYPE_ID ${pub_type})
|
||||
|
||||
#list(APPEND PX4_MSG_TOPIC_ID ${pub_topic})
|
||||
set(PX4_MSG_TOPIC_ID "${PX4_MSG_TOPIC_ID}\t${pub_topic},\n")
|
||||
#set(PX4_MSG_TOPIC_ID_STRING "${PX4_MSG_TOPIC_ID_STRING}\t"case ORB_ID::${pub_topic}: return \"${pub_topic}\";"\n")
|
||||
set(PX4_MSG_TOPIC_ORB_ID "${PX4_MSG_TOPIC_ORB_ID}\tORB_ID(${pub_topic}),\n")
|
||||
|
||||
list(APPEND PX4_MSG_TOPIC_ID_STRING
|
||||
"case ORB_ID::${pub_topic}: return \"${pub_topic}\";\n"
|
||||
)
|
||||
|
||||
# PX4_MSG_TYPE_ID
|
||||
# PX4_MSG_TOPIC_ID
|
||||
|
||||
# .h ORB_DECLARE(actuator_controls_0);
|
||||
# .c ORB_DEFINE(actuator_controls_0, struct actuator_controls_s, 48, __orb_actuator_controls_fields, static_cast<uint8_t>(ORB_ID::actuator_controls_0));
|
||||
|
||||
|
||||
set(PX4_ORB_DECLARE_STR
|
||||
"${PX4_ORB_DECLARE_STR}ORB_DECLARE(${pub_topic});\n")
|
||||
|
||||
# ORB_DEFINE(actuator_armed, struct actuator_armed_s, 16, __orb_actuator_armed_fields, static_cast<uint8_t>(ORB_ID::actuator_armed));
|
||||
set(PX4_ORB_DEFINE_STR
|
||||
"${PX4_ORB_DEFINE_STR}ORB_DEFINE(${pub_topic}, ${pub_type}, px4_embedded::${pub_type_simple_lower}_s::SIZE_NO_PADDING, px4_embedded::${pub_type_simple_lower}_s::FIELDS, static_cast<uint8_t>(ORB_ID::${pub_topic}));\n")
|
||||
|
||||
set(PX4_ORB_HEADER_INCLUDE_STR
|
||||
"${PX4_ORB_HEADER_INCLUDE_STR}#include <uORB/topics/${pub_type_simple_lower}.h>\n")
|
||||
|
||||
math(EXPR PX4_ORB_TOPIC_COUNT "${PX4_ORB_TOPIC_COUNT}+1")
|
||||
|
||||
endforeach()
|
||||
list(REMOVE_DUPLICATES PX4_MSG_TYPE_ID)
|
||||
#list(REMOVE_DUPLICATES PX4_MSG_TOPIC_ID)
|
||||
|
||||
#message(STATUS "PX4_MSG_TYPE_ID: ${PX4_MSG_TYPE_ID}")
|
||||
#message(STATUS "PX4_MSG_TOPIC_ID: ${PX4_MSG_TOPIC_ID}")
|
||||
|
||||
if(PX4_ORB_TOPIC_COUNT GREATER 0)
|
||||
configure_file(uORBTopics.cpp.in ${CMAKE_BINARY_DIR}/uORBTopics.cpp)
|
||||
configure_file(uORBTopics.hpp.in ${CMAKE_BINARY_DIR}/uORBTopics.hpp)
|
||||
endif()
|
||||
|
||||
# .hpp enum ORB_ID
|
||||
# .cpp struct orb_metadat ORB_ID() array
|
||||
|
||||
foreach(f ${msg_files})
|
||||
#message(STATUS "MSG: ${f}")
|
||||
endforeach()
|
||||
endif()
|
||||
|
||||
if(PX4_ORB_TOPIC_COUNT GREATER 0)
|
||||
add_library(uorb_msgs ${uorb_headers} ${CMAKE_BINARY_DIR}/uORBTopics.cpp ${CMAKE_BINARY_DIR}/uORBTopics.hpp)
|
||||
add_dependencies(uorb_msgs prebuild_targets uorb_headers)
|
||||
endif()
|
||||
|
||||
if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
|
||||
ament_target_dependencies(uorb_msgs rclcpp std_msgs)
|
||||
rosidl_target_interfaces(uorb_msgs ${PROJECT_NAME} "rosidl_typesupport_cpp")
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# uORB graph generation: add a custom target 'uorb_graph'
|
||||
#
|
||||
@@ -466,17 +583,13 @@ include(doxygen)
|
||||
include(metadata)
|
||||
include(package)
|
||||
|
||||
# print size
|
||||
add_custom_target(size
|
||||
COMMAND size $<TARGET_FILE:px4>
|
||||
DEPENDS px4
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
# install python requirements using configured python
|
||||
add_custom_target(install_python_requirements
|
||||
COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
|
||||
include(finalize)
|
||||
endif()
|
||||
|
||||
@@ -829,7 +829,6 @@ RECURSIVE = YES
|
||||
# run.
|
||||
|
||||
EXCLUDE = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
|
||||
@CMAKE_SOURCE_DIR@/src/modules/micrortps_bridge/micro-CDR \
|
||||
@CMAKE_SOURCE_DIR@/src/examples \
|
||||
@CMAKE_SOURCE_DIR@/src/templates
|
||||
|
||||
|
||||
Vendored
-172
@@ -12,76 +12,6 @@ pipeline {
|
||||
}
|
||||
}
|
||||
parallel {
|
||||
// stage('Catkin build on ROS workspace') {
|
||||
// agent {
|
||||
// docker {
|
||||
// image 'px4io/px4-dev-ros-melodic:2021-08-18'
|
||||
// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
// }
|
||||
// }
|
||||
// steps {
|
||||
// sh 'ls -l'
|
||||
// sh '''#!/bin/bash -l
|
||||
// echo $0;
|
||||
// mkdir -p catkin_ws/src;
|
||||
// cd catkin_ws;
|
||||
// git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
|
||||
// git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
|
||||
// git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
|
||||
// source /opt/ros/melodic/setup.bash;
|
||||
// export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
|
||||
// catkin init;
|
||||
// catkin build -j$(nproc) -l$(nproc);
|
||||
// '''
|
||||
// // test if the binary was correctly installed and runs using 'mavros_posix_silt.launch'
|
||||
// sh '''#!/bin/bash -l
|
||||
// echo $0;
|
||||
// source catkin_ws/devel/setup.bash;
|
||||
// rostest px4 pub_test.launch;
|
||||
// '''
|
||||
// }
|
||||
// post {
|
||||
// always {
|
||||
// sh 'rm -rf catkin_ws'
|
||||
// }
|
||||
// failure {
|
||||
// archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
|
||||
// }
|
||||
// }
|
||||
// options {
|
||||
// checkoutToSubdirectory('catkin_ws/src/Firmware')
|
||||
// }
|
||||
// }
|
||||
|
||||
stage('Colcon build on ROS2 workspace') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-ros2-foxy:2021-08-18'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
sh 'ls -l'
|
||||
sh '''#!/bin/bash -l
|
||||
echo $0;
|
||||
unset ROS_DISTRO;
|
||||
mkdir -p colcon_ws/src;
|
||||
cd colcon_ws;
|
||||
git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo;
|
||||
git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
|
||||
source /opt/ros/foxy/setup.sh;
|
||||
colcon build --event-handlers console_direct+ --symlink-install;
|
||||
'''
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'rm -rf colcon_ws'
|
||||
}
|
||||
}
|
||||
options {
|
||||
checkoutToSubdirectory('colcon_ws/src/Firmware')
|
||||
}
|
||||
}
|
||||
|
||||
stage('Airframe') {
|
||||
agent {
|
||||
@@ -254,108 +184,6 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage('microRTPS agent') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('git fetch --all --tags')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('make px4_sitl_rtps')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
|
||||
sh("rm -rf micrortps_agent/src micrortps_agent/idl")
|
||||
sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
|
||||
sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
|
||||
sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
|
||||
sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
|
||||
sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
|
||||
sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
|
||||
sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
|
||||
sh('rm -rf micrortps_agent')
|
||||
}
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'master'
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('PX4 ROS msgs') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
|
||||
// 'master' branch
|
||||
sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
|
||||
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
|
||||
sh('cd px4_msgs; git push origin master || true')
|
||||
// 'ros1' branch
|
||||
sh('cd px4_msgs; git checkout ros1')
|
||||
sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
|
||||
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
|
||||
sh('cd px4_msgs; git push origin ros1 || true')
|
||||
sh('rm -rf px4_msgs')
|
||||
}
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'master'
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('PX4 ROS2 bridge') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
|
||||
// deploy uORB RTPS ID map
|
||||
sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
|
||||
sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
|
||||
sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
|
||||
// deploy uORB RTPS required tools
|
||||
sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
|
||||
sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
|
||||
sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
|
||||
sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
|
||||
// deploy templates
|
||||
sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
|
||||
sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
|
||||
sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
|
||||
sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
|
||||
sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
|
||||
sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
|
||||
sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
|
||||
sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
|
||||
sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
|
||||
sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
|
||||
sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
|
||||
sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
|
||||
sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
|
||||
sh('rm -rf px4_msgs')
|
||||
}
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'master'
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('S3') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
|
||||
@@ -17,6 +17,8 @@ menu "Toolchain"
|
||||
bool "posix"
|
||||
config PLATFORM_QURT
|
||||
bool "qurt"
|
||||
config PLATFORM_ROS2
|
||||
bool "ros2"
|
||||
endchoice
|
||||
|
||||
config BOARD_PLATFORM
|
||||
@@ -24,6 +26,7 @@ menu "Toolchain"
|
||||
default "nuttx" if PLATFORM_NUTTX
|
||||
default "posix" if PLATFORM_POSIX
|
||||
default "qurt" if PLATFORM_QURT
|
||||
default "ros2" if PLATFORM_ROS2
|
||||
|
||||
config BOARD_LOCKSTEP
|
||||
bool "Force enable lockstep"
|
||||
|
||||
@@ -170,11 +170,6 @@ ifdef PYTHON_EXECUTABLE
|
||||
CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
|
||||
endif
|
||||
|
||||
# Check if the microRTPS agent is to be built
|
||||
ifdef BUILD_MICRORTPS_AGENT
|
||||
CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
|
||||
endif
|
||||
|
||||
# Functions
|
||||
# --------------------------------------------------------------------
|
||||
# describe how to build a cmake config
|
||||
@@ -251,7 +246,7 @@ endef
|
||||
# Other targets
|
||||
# --------------------------------------------------------------------
|
||||
|
||||
.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps
|
||||
.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware
|
||||
|
||||
# QGroundControl flashable NuttX firmware
|
||||
qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
|
||||
@@ -276,15 +271,7 @@ misc_qgc_extra_firmware: \
|
||||
check_airmind_mindpx-v2_default \
|
||||
sizes
|
||||
|
||||
# builds with RTPS
|
||||
check_rtps: \
|
||||
check_px4_fmu-v3_rtps \
|
||||
check_px4_fmu-v4_rtps \
|
||||
check_px4_fmu-v4pro_rtps \
|
||||
check_px4_sitl_rtps \
|
||||
sizes
|
||||
|
||||
.PHONY: sizes check quick_check check_rtps uorb_graphs
|
||||
.PHONY: sizes check quick_check uorb_graphs
|
||||
|
||||
sizes:
|
||||
@-find build -name *.elf -type f | xargs size 2> /dev/null || :
|
||||
@@ -479,7 +466,7 @@ clang-tidy-quiet: px4_sitl_default-clang
|
||||
# TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
|
||||
cppcheck: px4_sitl_default
|
||||
@mkdir -p "$(SRC_DIR)"/build/cppcheck
|
||||
@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++14 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
|
||||
@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++17 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
|
||||
@cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/
|
||||
|
||||
shellcheck_all:
|
||||
@@ -559,12 +546,3 @@ ifneq ($(ROS2_WS_DIR),)
|
||||
else
|
||||
ROS2_WS_DIR := ~/colcon_ws
|
||||
endif
|
||||
|
||||
update_ros2_bridge:
|
||||
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
|
||||
|
||||
update_px4_ros_com:
|
||||
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
|
||||
|
||||
update_px4_msgs:
|
||||
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
|
||||
|
||||
@@ -36,7 +36,6 @@ add_subdirectory(airframes)
|
||||
px4_add_romfs_files(
|
||||
px4-rc.mavlink
|
||||
px4-rc.params
|
||||
px4-rc.rtps
|
||||
px4-rc.simulator
|
||||
rc.replay
|
||||
rcS
|
||||
|
||||
@@ -1,4 +0,0 @@
|
||||
#!/bin/sh
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
|
||||
@@ -226,12 +226,6 @@ sensors start
|
||||
commander start
|
||||
navigator start
|
||||
|
||||
# Try to start the micrortps_client with UDP transport if module exists
|
||||
if px4-micrortps_client status > /dev/null 2>&1
|
||||
then
|
||||
. px4-rc.rtps
|
||||
fi
|
||||
|
||||
if param greater -s MNT_MODE_IN -1
|
||||
then
|
||||
gimbal start
|
||||
|
||||
@@ -8,7 +8,6 @@ if [ $# -gt 0 ]; then
|
||||
fi
|
||||
|
||||
exec find boards msg src platforms test \
|
||||
-path msg/templates/urtps -prune -o \
|
||||
-path platforms/nuttx/NuttX -prune -o \
|
||||
-path platforms/qurt/dspal -prune -o \
|
||||
-path src/drivers/uavcan/libuavcan -prune -o \
|
||||
@@ -21,8 +20,6 @@ exec find boards msg src platforms test \
|
||||
-path src/modules/ekf2/EKF -prune -o \
|
||||
-path src/modules/gyro_fft/CMSIS_5 -prune -o \
|
||||
-path src/modules/mavlink/mavlink -prune -o \
|
||||
-path src/modules/micrortps_bridge/micro-CDR -prune -o \
|
||||
-path src/modules/micrortps_bridge/microRTPS_client -prune -o \
|
||||
-path test/mavsdk_tests/catch2 -prune -o \
|
||||
-path src/lib/crypto/monocypher -prune -o \
|
||||
-path src/lib/crypto/libtomcrypt -prune -o \
|
||||
|
||||
@@ -1,15 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
SCRIPT_DIR=$0
|
||||
if [[ ${SCRIPT_DIR:0:1} != '/' ]]; then
|
||||
SCRIPT_DIR=$(dirname $(realpath -s "$PWD/$0"))
|
||||
fi
|
||||
|
||||
PX4_DIR=$(cd "$(dirname $(dirname $SCRIPT_DIR))" && pwd)
|
||||
|
||||
if [ -d $PX4_DIR/build/*_rtps ]; then
|
||||
cd $PX4_DIR/build/*_rtps/src/modules/micrortps_bridge/micrortps_agent/
|
||||
cmake -Bbuild
|
||||
cmake --build build -j$(nproc --all)
|
||||
fi
|
||||
@@ -93,7 +93,6 @@ pca9685_pwm_out,CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
power_monitor/ina226,CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
power_monitor/voxlpm,CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
|
||||
pps_capture,CONFIG_DRIVERS_PPS_CAPTURE=y
|
||||
protocol_splitter,CONFIG_DRIVERS_PROTOCOL_SPLITTER=y
|
||||
pwm_input,CONFIG_DRIVERS_PWM_INPUT=y
|
||||
pwm_out_sim,CONFIG_DRIVERS_PWM_OUT_SIM=y
|
||||
pwm_out,CONFIG_DRIVERS_PWM_OUT=y
|
||||
@@ -138,7 +137,6 @@ mc_att_control,CONFIG_MODULES_MC_ATT_CONTROL=y
|
||||
mc_hover_thrust_estimator,CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
mc_pos_control,CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
mc_rate_control,CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
micrortps_bridge,CONFIG_MODULES_MICRORTPS_BRIDGE=y
|
||||
navigator,CONFIG_MODULES_NAVIGATOR=y
|
||||
px4iofirmware,CONFIG_MODULES_PX4IOFIRMWARE=y
|
||||
rc_update,CONFIG_MODULES_RC_UPDATE=y
|
||||
|
||||
@@ -1,5 +0,0 @@
|
||||
$(info px4_developer.mk inclded)
|
||||
ifeq ($(UAVCAN_BL_OVERRIDE),y)
|
||||
$(info ************************** UAVCAN BOOT LOADERS built for In place application Debugging ***************************************)
|
||||
export EXTRAFLAGS +=-DDEBUG_APPLICATION_INPLACE
|
||||
endif
|
||||
+1
-3
@@ -9,8 +9,6 @@
|
||||
## - jMAVSim simulator (omit with arg: --no-sim-tools)
|
||||
## - Gazebo simulator (not by default, use --gazebo)
|
||||
##
|
||||
## Not Installs:
|
||||
## - FastRTPS and FastCDR
|
||||
|
||||
INSTALL_NUTTX="true"
|
||||
INSTALL_SIM="true"
|
||||
@@ -122,7 +120,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
echo
|
||||
echo "Installing PX4 simulation dependencies"
|
||||
|
||||
# java (jmavsim or fastrtps)
|
||||
# java (jmavsim)
|
||||
sudo pacman -S --noconfirm --needed \
|
||||
ant \
|
||||
jdk-openjdk \
|
||||
|
||||
@@ -10,8 +10,6 @@ set -e
|
||||
## - NuttX toolchain (omit with arg: --no-nuttx)
|
||||
## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
|
||||
##
|
||||
## Not Installs:
|
||||
## - FastRTPS and FastCDR
|
||||
|
||||
INSTALL_NUTTX="true"
|
||||
INSTALL_SIM="true"
|
||||
@@ -208,7 +206,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
java_version=14
|
||||
gazebo_version=11
|
||||
fi
|
||||
# Java (jmavsim or fastrtps)
|
||||
# Java (jmavsim)
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
ant \
|
||||
openjdk-$java_version-jre \
|
||||
|
||||
@@ -1,135 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
agent_template_files_updated=0
|
||||
code_generator_files_updated=0
|
||||
|
||||
# parse help argument
|
||||
if [[ $1 == "-h" ]] || [[ $1 == "--help" ]]; then
|
||||
echo -e "Usage: update_px4_ros2_bridge.bash [options...] \t This script allows to update px4_ros_com and px4_msgs in a specified directory." >&2
|
||||
echo
|
||||
echo -e "\t--ws_dir \t\t Location of the ament/colcon workspace. Default: $HOME/colcon_ws."
|
||||
echo -e "\t--px4_ros_com \t\t Updates px4_ros_com microRTPS agent code generation and templates."
|
||||
echo -e "\t--px4_msgs \t\t Updates px4_msgs messages definition files."
|
||||
echo -e "\t--all \t\t Updates both px4_ros_com and px4_msgs."
|
||||
echo
|
||||
exit 0
|
||||
fi
|
||||
|
||||
# parse the arguments
|
||||
while [ $# -gt 0 ]; do
|
||||
if [[ $1 == *"--"* ]]; then
|
||||
v="${1/--/}"
|
||||
if [ ! -z $2 ]; then
|
||||
declare $v="$2"
|
||||
else
|
||||
declare $v=1
|
||||
fi
|
||||
fi
|
||||
shift
|
||||
done
|
||||
|
||||
# get script directory
|
||||
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
|
||||
|
||||
# get PX4-Autopilot directory
|
||||
PX4_DIR=$(cd "$(dirname "$SCRIPT_DIR")" && pwd)
|
||||
|
||||
function compare_and_update () {
|
||||
cmp -s "$1" "$2"
|
||||
if [ $? -eq 1 ]; then
|
||||
cp "$1" "$2"
|
||||
return 0
|
||||
fi
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
# update microRTPS agent code generators / helpers
|
||||
function update_agent_code {
|
||||
declare -a templates=( \
|
||||
"microRTPS_agent.cpp.em" \
|
||||
"microRTPS_timesync.cpp.em" \
|
||||
"microRTPS_timesync.h.em" \
|
||||
"microRTPS_transport.cpp" \
|
||||
"microRTPS_transport.h" \
|
||||
"Publisher.cpp.em" \
|
||||
"Publisher.h.em" \
|
||||
"Subscriber.cpp.em" \
|
||||
"Subscriber.h.em" \
|
||||
"RtpsTopics.cpp.em" \
|
||||
"RtpsTopics.h.em" \
|
||||
)
|
||||
|
||||
for file in ${templates[@]}; do
|
||||
compare_and_update "$PX4_DIR/msg/templates/urtps/$file" "$ws_dir/src/px4_ros_com/templates/$file" \
|
||||
&& echo -e "--\t\t- '$ws_dir/src/px4_ros_com/templates/$file' updated" && ((agent_template_files_updated+=1))
|
||||
done
|
||||
if [ $agent_template_files_updated -eq 0 ]; then
|
||||
echo -e "--\t\t- No template files updated"
|
||||
elif [ $agent_template_files_updated -eq 1 ]; then
|
||||
echo -e "--\t\t - 1 template file updated"
|
||||
else
|
||||
echo -e "--\t\t - $agent_template_files_updated template files updated"
|
||||
fi
|
||||
}
|
||||
|
||||
# update microRTPS agent code templates
|
||||
function update_agent_templates {
|
||||
declare -a code_generators=( \
|
||||
"uorb_rtps_classifier.py" \
|
||||
"generate_microRTPS_bridge.py" \
|
||||
"px_generate_uorb_topic_files.py" \
|
||||
)
|
||||
for file in ${code_generators[@]}; do
|
||||
compare_and_update "$PX4_DIR/msg/tools/$file $ws_dir/src/px4_ros_com/scripts/$file" \
|
||||
&& echo -e "--\t\t- '$ws_dir/src/px4_ros_com/scripts/$file' updated" && ((code_generator_files_updated+=1))
|
||||
done
|
||||
if [ $code_generator_files_updated -eq 0 ]; then
|
||||
echo -e "--\t\t- No code generators / helpers files updated"
|
||||
elif [ $code_generator_files_updated -eq 1 ]; then
|
||||
echo -e "--\t\t - 1 code generator / helper file updated"
|
||||
else
|
||||
echo -e "--\t\t - $code_generator_files_updated code generator / helper files updated"
|
||||
fi
|
||||
}
|
||||
|
||||
# update px4_ros_com files
|
||||
function update_px4_ros_com {
|
||||
python3 $PX4_DIR/msg/tools/uorb_to_ros_urtps_topics.py -i $PX4_DIR/msg/tools/urtps_bridge_topics.yaml -o $ws_dir/src/px4_ros_com/templates/urtps_bridge_topics.yaml
|
||||
echo -e "--------------- \033[1mmicroRTPS agent code generation and templates update\033[0m ----------------"
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
update_agent_code
|
||||
update_agent_templates
|
||||
return 0
|
||||
}
|
||||
|
||||
# function to update px4_msgs
|
||||
function update_px4_msgs {
|
||||
find "$ws_dir/src/px4_msgs/msg/" -maxdepth 1 -type f -delete
|
||||
python3 $PX4_DIR/msg/tools/uorb_to_ros_msgs.py $PX4_DIR/msg/ $ws_dir/src/px4_msgs/msg/
|
||||
}
|
||||
|
||||
# decisor
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
if [ -d "${ws_dir}" ]; then
|
||||
ws_dir=$(cd "$ws_dir" && pwd)
|
||||
if [ ! -z ${all} ]; then
|
||||
update_px4_ros_com
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
update_px4_msgs
|
||||
elif [ ! -z ${px4_ros_com} ]; then
|
||||
update_px4_ros_com
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
elif [ ! -z ${px4_msgs} ]; then
|
||||
update_px4_msgs
|
||||
fi
|
||||
echo -e "-------------------------------- \033[0;32mUpdate successful!\033[0m ---------------------------------"
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
exit 0
|
||||
else
|
||||
echo -e "-- \033[0;31mWorkspace directory doesn't exist...\033[0m"
|
||||
echo -e "---------------------------------- \033[0;31mUpdate failed!\033[0m -----------------------------------"
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
exit $ERRCODE
|
||||
fi
|
||||
@@ -44,4 +44,6 @@ px4_add_module(
|
||||
syslink.c
|
||||
DEPENDS
|
||||
battery
|
||||
SUBSCRIPTIONS
|
||||
"px4::msg::BatteryStatus /battery_status"
|
||||
)
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -3,4 +3,3 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m7"
|
||||
CONFIG_BOARD_ROMFSROOT=""
|
||||
CONFIG_BOARD_CONSTRAINED_MEMORY=y
|
||||
CONFIG_DRIVERS_BOOTLOADERS=y
|
||||
CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
|
||||
|
||||
@@ -44,6 +44,8 @@ if("${PX4_BOARD_LABEL}" STREQUAL "canbootloader")
|
||||
nuttx_arch
|
||||
nuttx_drivers
|
||||
canbootloader
|
||||
drivers__device
|
||||
px4_platform
|
||||
)
|
||||
target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
|
||||
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -1,6 +1,5 @@
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
|
||||
CONFIG_BOARD_IO="px4_io-v2_default"
|
||||
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
|
||||
@@ -47,6 +46,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_ESC_BATTERY=y
|
||||
@@ -55,6 +55,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
@@ -70,7 +71,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
@@ -79,10 +79,9 @@ CONFIG_MODULES_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
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@@ -1 +0,0 @@
|
||||
CONFIG_MODULES_MICRORTPS_BRIDGE=y
|
||||
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@@ -1 +0,0 @@
|
||||
CONFIG_MODULES_MICRORTPS_BRIDGE=y
|
||||
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@@ -1 +0,0 @@
|
||||
CONFIG_MODULES_MICRORTPS_BRIDGE=y
|
||||
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@@ -1 +0,0 @@
|
||||
CONFIG_MODULES_MICRORTPS_BRIDGE=y
|
||||
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@@ -1 +0,0 @@
|
||||
CONFIG_MODULES_MICRORTPS_BRIDGE=y
|
||||
@@ -1 +0,0 @@
|
||||
CONFIG_MODULES_MICRORTPS_BRIDGE=y
|
||||
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@@ -12,10 +12,10 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
|
||||
CONFIG_DRIVERS_CAMERA_TRIGGER=y
|
||||
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
|
||||
CONFIG_COMMON_DISTANCE_SENSOR=y
|
||||
CONFIG_COMMON_HYGROMETERS=y
|
||||
CONFIG_DRIVERS_DSHOT=y
|
||||
CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_HEATER=y
|
||||
CONFIG_COMMON_HYGROMETERS=y
|
||||
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
|
||||
@@ -57,6 +57,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
@@ -80,7 +81,6 @@ CONFIG_MODULES_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user