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msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge

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- update all msgs to be directly compatible with ROS2
 - microdds_client improvements
   - timesync
   - reduced code size
   - add to most default builds if we can afford it
   - lots of other little changes
 - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
This commit is contained in:
Daniel Agar
2022-10-19 19:36:47 -04:00
committed by GitHub
parent e211e0ca0e
commit cea185268e
318 changed files with 1948 additions and 8939 deletions
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msg/GimbalDeviceInformation.msg
+36
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uint64 timestamp # time since system start (microseconds)
uint8[32] vendor_name
uint8[32] model_name
uint8[32] custom_name
uint32 firmware_version
uint32 hardware_version
uint64 uid
uint16 cap_flags
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT = 1
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL = 2
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS = 4
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW = 8
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK = 16
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS = 32
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW = 64
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK = 128
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS = 256
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW = 512
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK = 1024
uint32 GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW = 2048
uint16 custom_cap_flags
float32 roll_min # [rad]
float32 roll_max # [rad]
float32 pitch_min # [rad]
float32 pitch_max # [rad]
float32 yaw_min # [rad]
float32 yaw_max # [rad]
uint8 gimbal_device_compid