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

- 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)

.ci/Jenkinsfile-compile

@@ -69,24 +69,18 @@ pipeline {
                      "matek_h743-slim_default",
                      "matek_h743_default",
                      "modalai_fc-v1_default",
-                     "modalai_fc-v1_rtps",
                      "modalai_fc-v2_default",
                      "modalai_voxl2-io_default",
                      "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-f7-oem_default",
                      "mro_ctrl-zero-h7-oem_default",
-                     "mro_ctrl-zero-h7-oem_rtps",
                      "mro_ctrl-zero-h7_default",
-                     "mro_ctrl-zero-h7_rtps",
                      "mro_pixracerpro_default",
-                     "mro_pixracerpro_rtps",
                      "mro_x21-777_default",
                      "mro_x21_default",
                      "nxp_fmuk66-e_default",
-                     "nxp_fmuk66-e_rtps",
                      "nxp_fmuk66-e_socketcan",
                      "nxp_fmuk66-v3_default",
-                     "nxp_fmuk66-v3_rtps",
                      "nxp_fmuk66-v3_socketcan",
                      "nxp_fmurt1062-v1_default",
                      "nxp_ucans32k146_canbootloader",
@@ -104,7 +98,6 @@ pipeline {
                      "px4_fmu-v5_debug",
                      "px4_fmu-v5_default",
                      "px4_fmu-v5_lto",
-                     "px4_fmu-v5_rtps",
                      "px4_fmu-v5_stackcheck",
                      "px4_fmu-v5_uavcanv0periph",
                      "px4_fmu-v5x_default",

.github/workflows/checks.yml

@@ -23,7 +23,6 @@ jobs:
           "shellcheck_all",
           "NO_NINJA_BUILD=1 px4_fmu-v5_default",
           "NO_NINJA_BUILD=1 px4_sitl_default",
-          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
           "airframe_metadata",
           "module_documentation",
           "parameters_metadata",

.github/workflows/metadata.yml

@@ -116,7 +116,7 @@ jobs:
         ls -ls *
       # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
 
-  micrortps_agent:
+  ROS2_msgs:
     runs-on: ubuntu-latest
     container: px4io/px4-dev-base-focal:2021-09-08
     steps:
@@ -124,34 +124,8 @@ jobs:
       with:
         token: ${{ secrets.ACCESS_TOKEN }}
 
-    - name: microRTPS agent
+    - name: PX4 ROS2 msgs
-      run: |
-        make px4_sitl_rtps
-        git clone https://github.com/PX4/micrortps_agent.git
-        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
-
-  ROS_msgs:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS msgs
       run: |
         git clone https://github.com/PX4/px4_msgs.git
-        python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
+        rm px4_msgs/msg/*.msg
-
+        cp msg/*.msg px4_msgs/msg/
-  ROS2_bridge:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS2 bridge
-      run: |
-        git clone https://github.com/PX4/px4_ros_com.git
-        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml

.gitmodules

@@ -18,10 +18,6 @@
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
 	branch = main
-[submodule "src/modules/micrortps_bridge/micro-CDR"]
-	path = src/modules/micrortps_bridge/micro-CDR
-	url = https://github.com/PX4/Micro-CDR.git
-	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
@@ -64,4 +60,5 @@
 	branch = px4
 [submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
 	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
-	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git
+	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
+	branch = px4

.vscode/cmake-variants.yaml

@@ -6,11 +6,11 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
-    px4_sitl_rtps:
+    px4_sitl_nolockstep:
-      short: px4_sitl_rtps
+      short: px4_sitl_nolockstep
       buildType: RelWithDebInfo
       settings:
-        CONFIG: px4_sitl_rtps
+        CONFIG: px4_sitl_nolockstep
     px4_sitl_asan:
       short: px4_sitl (AddressSanitizer)
       buildType: AddressSanitizer

Documentation/Doxyfile.in

@@ -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
 

Jenkinsfile

@@ -13,76 +13,6 @@ 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/simulation/gazebo/sitl_gazebo
-        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/simulation/gazebo/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_sitl.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/simulation/gazebo/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 {
@@ -149,7 +79,7 @@ pipeline {
             docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
-            sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
+            sh 'mkdir -p build/msg_docs; ./Tools/msg/generate_msg_docs.py -d build/msg_docs'
             dir('build') {
               archiveArtifacts(artifacts: 'msg_docs/*.md')
               stash includes: 'msg_docs/*.md', name: 'msg_documentation'
@@ -288,37 +218,6 @@ 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 ${BRANCH_NAME} || true')
-              sh('rm -rf micrortps_agent')
-            }
-          }
-          when {
-            anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
         stage('PX4 ROS msgs') {
           agent {
             docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
@@ -329,66 +228,16 @@ pipeline {
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
               sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
               // 'main' branch
-              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('rm -f px4_msgs/msg/*.msg')
+              sh('cp msg/*.msg px4_msgs/msg/')
               sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
               sh('cd px4_msgs; git push origin main || true')
-              // 'ros1' branch
-              sh('cd px4_msgs; git checkout ros1')
-              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
-              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin ros1 || true')
               sh('rm -rf px4_msgs')
             }
           }
           when {
             anyOf {
               branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
-        stage('PX4 ROS2 bridge') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh('export')
-            sh('make distclean; git clean -ff -x -d .')
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh("git clone https://${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 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
             }
           }
         }

Makefile

@@ -172,11 +172,6 @@ ifdef PYTHON_EXECUTABLE
 	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif
 
-# Check if the microRTPS agent is to be built
-ifdef BUILD_MICRORTPS_AGENT
-  override CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
-endif
-
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
@@ -253,7 +248,7 @@ 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
@@ -278,15 +273,7 @@ misc_qgc_extra_firmware: \
 	check_airmind_mindpx-v2_default \
 	sizes
 
-# builds with RTPS
+.PHONY: sizes check quick_check uorb_graphs
-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
 
 sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
@@ -495,7 +482,9 @@ shellcheck_all:
 
 validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
-	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
+	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
+	-not -path "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \
+	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
 
 # Cleanup

README.md

@@ -75,7 +75,7 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con
     * [Paul Riseborough](https://github.com/priseborough)
   * Vision based navigation and Obstacle Avoidance
     * [Markus Achtelik](https://github.com/markusachtelik)
-  * RTPS/ROS2 Interface
+  * DDS/ROS2 Interface
     * [Nuno Marques](https://github.com/TSC21)
 
 See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).

ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt

@@ -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

ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps

@@ -1,4 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -259,11 +259,8 @@ fi
 
 navigator start
 
-# Try to start the micrortps_client with UDP transport if module exists
+# Try to start the microdds_client with UDP transport if module exists
-if px4-micrortps_client status > /dev/null 2>&1
+microdds_client start -t udp -p 8888
-then
-	. px4-rc.rtps
-fi
 
 if param greater -s MNT_MODE_IN -1
 then

Tools/astyle/files_to_check_code_style.sh

@@ -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 \

Tools/build_micrortps_agent.sh

@@ -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

Tools/msg/generate_msg_docs.py

@@ -90,7 +90,7 @@ if __name__ == "__main__":
     readme_text="""# uORB Message Reference
 
 :::note
-This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/msg/tools/generate_msg_docs.py) from the source code.
+This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
 :::
 
 This topic lists the UORB messages available in PX4 (some of which may be may be shared by the [PX4-ROS 2 Bridge](../ros/ros2_comm.md)).

Tools/msg/px_generate_uorb_topic_files.py

@@ -0,0 +1,253 @@
+#!/usr/bin/env python3
+#############################################################################
+#
+#   Copyright (C) 2013-2022 PX4 Pro Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+#############################################################################
+
+"""
+px_generate_uorb_topic_files.py
+Generates c/cpp header/source files for uorb topics from .msg
+message files
+"""
+
+import os
+import argparse
+import re
+import sys
+
+try:
+    import em
+except ImportError as e:
+    print("Failed to import em: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user empy")
+    print("")
+    sys.exit(1)
+
+try:
+    import genmsg.template_tools
+except ImportError as e:
+    print("Failed to import genmsg: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pyros-genmsg")
+    print("")
+    sys.exit(1)
+
+
+__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
+__copyright__ = "Copyright (C) 2013-2022 PX4 Development Team."
+__license__ = "BSD"
+__email__ = "thomasgubler@gmail.com"
+
+
+TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em']
+TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em']
+OUTPUT_FILE_EXT = ['.h', '.cpp']
+INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
+PACKAGE = 'px4'
+TOPICS_TOKEN = '# TOPICS '
+
+
+def get_topics(filename):
+    """
+    Get TOPICS names from a "# TOPICS" line
+    """
+    ofile = open(filename, 'r')
+    text = ofile.read()
+    result = []
+    for each_line in text.split('\n'):
+        if each_line.startswith(TOPICS_TOKEN):
+            topic_names_str = each_line.strip()
+            topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
+            topic_names_list = topic_names_str.split(" ")
+            for topic in topic_names_list:
+                # topic name PascalCase (file name) to snake_case (topic name)
+                topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', topic).lower()
+                result.append(topic_name)
+    ofile.close()
+
+    if len(result) == 0:
+        # topic name PascalCase (file name) to snake_case (topic name)
+        file_base_name = os.path.basename(filename).replace(".msg", "")
+        topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
+        result.append(topic_name)
+
+    return result
+
+
+def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath):
+    """
+    Converts a single .msg file to an uorb header/source file
+    """
+    msg_context = genmsg.msg_loader.MsgContext.create_default()
+    full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename))
+
+    file_base_name = os.path.basename(filename).replace(".msg", "")
+
+    full_type_name_snake = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
+
+    spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
+
+    field_name_and_type = {}
+    for field in spec.parsed_fields():
+        field_name_and_type.update({field.name: field.type})
+
+    # assert if the timestamp field exists
+    try:
+        assert 'timestamp' in field_name_and_type
+    except AssertionError:
+        print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\tNo 'timestamp' field found in " +
+              spec.short_name + " msg definition!")
+        exit(1)
+
+    # assert if the timestamp field is of type uint64
+    try:
+        assert field_name_and_type.get('timestamp') == 'uint64'
+    except AssertionError:
+        print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
+              " msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
+        exit(1)
+
+    topics = get_topics(filename)
+
+    if includepath:
+        search_path = genmsg.command_line.includepath_to_dict(includepath)
+    else:
+        search_path = {}
+
+    genmsg.msg_loader.load_depends(msg_context, spec, search_path)
+
+    em_globals = {
+        "name_snake_case": full_type_name_snake,
+        "file_name_in": filename,
+        "search_path": search_path,
+        "msg_context": msg_context,
+        "spec": spec,
+        "topics": topics,
+    }
+
+    # Make sure output directory exists:
+    if not os.path.isdir(outputdir):
+        os.makedirs(outputdir)
+
+    template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
+    output_file = os.path.join(outputdir, full_type_name_snake + OUTPUT_FILE_EXT[format_idx])
+
+    return generate_by_template(output_file, template_file, em_globals)
+
+
+def generate_by_template(output_file, template_file, em_globals):
+    """
+    Invokes empy intepreter to geneate output_file by the
+    given template_file and predefined em_globals dict
+    """
+    # check if folder exists:
+    folder_name = os.path.dirname(output_file)
+    if not os.path.exists(folder_name):
+        os.makedirs(folder_name)
+
+    ofile = open(output_file, 'w')
+    # todo, reuse interpreter
+    interpreter = em.Interpreter(output=ofile, globals=em_globals, options={
+                                 em.RAW_OPT: True, em.BUFFERED_OPT: True})
+    try:
+        interpreter.file(open(template_file))
+    except OSError as e:
+        ofile.close()
+        os.remove(output_file)
+        raise
+    interpreter.shutdown()
+    ofile.close()
+    return True
+
+
+def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
+    # generate cpp file with topics list
+    filenames = []
+    for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
+        filenames.append(re.sub(r'(?<!^)(?=[A-Z])', '_', filename).lower())
+
+    topics = []
+    for msg_filename in files:
+        topics.extend(get_topics(msg_filename))
+
+    tl_globals = {"msgs": filenames, "topics": topics}
+    tl_template_file = os.path.join(templatedir, template_filename)
+    tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
+
+    generate_by_template(tl_out_file, tl_template_file, tl_globals)
+
+
+def append_to_include_path(path_to_append, curr_include, package):
+    for p in path_to_append:
+        curr_include.append('%s:%s' % (package, p))
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description='Convert msg files to uorb headers/sources')
+    parser.add_argument('--headers', help='Generate header files', action='store_true')
+    parser.add_argument('--sources', help='Generate source files', action='store_true')
+    parser.add_argument('-f', dest='file',
+                        help="files to convert (use only without -d)",
+                        nargs="+")
+    parser.add_argument('-i', dest="include_paths",
+                        help='Additional Include Paths', nargs="*",
+                        default=None)
+    parser.add_argument('-e', dest='templatedir',
+                        help='directory with template files',)
+    parser.add_argument('-k', dest='package', default=PACKAGE,
+                        help='package name')
+    parser.add_argument('-o', dest='outputdir',
+                        help='output directory for header files')
+    parser.add_argument('-p', dest='prefix', default='',
+                        help='string added as prefix to the output file '
+                        ' name when converting directories')
+    args = parser.parse_args()
+
+    if args.include_paths:
+        append_to_include_path(args.include_paths, INCL_DEFAULT, args.package)
+
+    if args.headers:
+        generate_idx = 0
+    elif args.sources:
+        generate_idx = 1
+    else:
+        print('Error: either --headers or --sources must be specified')
+        exit(-1)
+    if args.file is not None:
+        for f in args.file:
+            generate_output_from_file(generate_idx, f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT)
+
+        # Generate topics list header and source file
+        if os.path.isfile(os.path.join(args.templatedir, TOPICS_LIST_TEMPLATE_FILE[generate_idx])):
+            generate_topics_list_file_from_files(args.file, args.outputdir, TOPICS_LIST_TEMPLATE_FILE[generate_idx], args.templatedir)

Tools/msg/px_generate_uorb_topic_helper.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 #############################################################################
 #
-#   Copyright (C) 2013-2021 PX4 Pro Development Team. All rights reserved.
+#   Copyright (C) 2013-2022 PX4 Pro Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -41,6 +41,7 @@ precompiled and thus message generation will be much faster
 
 import os
 import errno
+import re
 
 import genmsg.msgs
 
@@ -236,8 +237,12 @@ def convert_type(spec_type, use_short_type=False):
         c_type = type_map_short[msg_type]
     elif msg_type in type_map:
         c_type = type_map[msg_type]
+    else:
+        c_type = re.sub(r'(?<!^)(?=[A-Z])', '_', c_type).lower() # PascalCase to snake_case
+
     if is_array:
         return c_type + "[" + str(array_length) + "]"
+
     return c_type
 
 
@@ -257,6 +262,7 @@ def print_field_def(field):
     type_prefix = ''
     if (sl_pos >= 0):
         type_name = type_name[sl_pos + 1:]
+        type_name = re.sub(r'(?<!^)(?=[A-Z])', '_', type_name).lower() # PascalCase to snake_case
         type_prefix = 'struct '
         type_appendix = '_s'
 

Tools/msg/templates/ucdr/msg.h.em

@@ -6,15 +6,51 @@
 @# generates CDR serialization & deserialization methods
 @#
 @# Context:
+@#  - file_name_in (String) Source file
 @#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@#  - search_path (str) Path to .msg files
+@#  - search_path (dict) search paths for genmsg
+@#  - topics (List of String) topic names
 @###############################################
+/****************************************************************************
+ *
+ *   Copyright (C) 2013-2022 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
 @{
 import genmsg.msgs
+import re
 from px_generate_uorb_topic_helper import * # this is in Tools/
 
-topic = spec.short_name
+topic = name_snake_case
-uorb_struct = '%s_s'%spec.short_name
+uorb_struct = '%s_s'%name_snake_case
 
 # get fields, struct size and paddings
 def add_fields(msg_fields, name_prefix='', offset=0):
@@ -79,7 +115,8 @@ for field in spec.parsed_fields():
         if not field.is_header:
             (package, name) = genmsg.names.package_resource_name(field.base_type)
             package = package or spec.package # convert '' to package
-            print('#include <uORB/ucdr/%s.h>'%(name))
+            name_snake = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
+            print('#include <uORB/ucdr/%s.h>'%(name_snake))
 }@
 
 static inline constexpr int ucdr_topic_size_@(topic)()
@@ -87,11 +124,8 @@ static inline constexpr int ucdr_topic_size_@(topic)()
 	return @(struct_size);
 }
 
-bool ucdr_serialize_@(topic)(const @(uorb_struct)& topic, ucdrBuffer& buf)
+bool ucdr_serialize_@(topic)(const @(uorb_struct)& topic, ucdrBuffer& buf, int64_t time_offset = 0)
 {
-	if (ucdr_buffer_remaining(&buf) < @(struct_size)) {
-		return false;
-	}
 @{
 for field_type, field_name, field_size, padding in fields:
 	if padding > 0:
@@ -99,7 +133,18 @@ for field_type, field_name, field_size, padding in fields:
 		print('\tbuf.offset += {:}; // padding'.format(padding))
 
 	print('\tstatic_assert(sizeof(topic.{0}) == {1}, "size mismatch");'.format(field_name, field_size))
-	print('\tmemcpy(buf.iterator, &topic.{0}, sizeof(topic.{0}));'.format(field_name))
+
+	if field_type == 'uint64' and field_name == 'timestamp':
+		print('\tconst uint64_t timestamp_adjusted = topic.timestamp + time_offset;')
+		print('\tmemcpy(buf.iterator, &timestamp_adjusted, sizeof(topic.{0}));'.format(field_name))
+
+	elif field_type == 'uint64' and field_name == 'timestamp_sample':
+		print('\tconst uint64_t timestamp_sample_adjusted = topic.timestamp_sample + time_offset;')
+		print('\tmemcpy(buf.iterator, &timestamp_sample_adjusted, sizeof(topic.{0}));'.format(field_name))
+
+	else:
+		print('\tmemcpy(buf.iterator, &topic.{0}, sizeof(topic.{0}));'.format(field_name))
+
 	print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
 	print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))
 
@@ -107,11 +152,8 @@ for field_type, field_name, field_size, padding in fields:
 	return true;
 }
 
-bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic)
+bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic, int64_t time_offset = 0)
 {
-	if (ucdr_buffer_remaining(&buf) < @(struct_size)) {
-		return false;
-	}
 @{
 for field_type, field_name, field_size, padding in fields:
 	if padding > 0:
@@ -120,6 +162,10 @@ for field_type, field_name, field_size, padding in fields:
 
 	print('\tstatic_assert(sizeof(topic.{0}) == {1}, "size mismatch");'.format(field_name, field_size))
 	print('\tmemcpy(&topic.{0}, buf.iterator, sizeof(topic.{0}));'.format(field_name))
+
+	if field_type == 'uint64' and (field_name == 'timestamp' or field_name == 'timestamp_sample'):
+		print('\ttopic.{0} -= time_offset;'.format(field_name))
+
 	print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
 	print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))
 

Tools/msg/templates/uorb/msg.cpp.em

@@ -13,12 +13,11 @@
 @#  - file_name_in (String) Source file
 @#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
 @#  - search_path (dict) search paths for genmsg
-@#  - topics (List of String) multi-topic names
+@#  - topics (List of String) topic names
-@#  - constrained_flash set to true if flash is constrained
 @###############################################
 /****************************************************************************
  *
- *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2022 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
@@ -56,8 +55,7 @@ import genmsg.msgs
 
 from px_generate_uorb_topic_helper import * # this is in Tools/
 
-uorb_struct = '%s_s'%spec.short_name
+uorb_struct = '%s_s'%name_snake_case
-topic_name = spec.short_name
 
 sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
 struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
@@ -67,7 +65,7 @@ topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field
 #include <inttypes.h>
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/defines.h>
-#include <uORB/topics/@(topic_name).h>
+#include <uORB/topics/@(name_snake_case).h>
 #include <uORB/topics/uORBTopics.hpp>
 #include <drivers/drv_hrt.h>
 #include <lib/drivers/device/Device.hpp>
@@ -76,10 +74,10 @@ topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field
 
 @# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed"
 @# This is used for the logger
-constexpr char __orb_@(topic_name)_fields[] = "@( ";".join(topic_fields) );";
+constexpr char __orb_@(name_snake_case)_fields[] = "@( ";".join(topic_fields) );";
 
-@[for multi_topic in topics]@
+@[for topic in topics]@
-ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(topic_name)_fields, static_cast<uint8_t>(ORB_ID::@multi_topic));
+ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(name_snake_case)_fields, static_cast<uint8_t>(ORB_ID::@topic));
 @[end for]
 
 void print_message(const orb_metadata *meta, const @uorb_struct& message)

Tools/msg/templates/uorb/msg.h.em

@@ -13,11 +13,11 @@
 @#  - file_name_in (String) Source file
 @#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
 @#  - search_path (dict) search paths for genmsg
-@#  - topics (List of String) multi-topic names
+@#  - topics (List of String) topic names
 @###############################################
 /****************************************************************************
  *
- *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2022 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
@@ -52,12 +52,12 @@
 
 @{
 import genmsg.msgs
+import re
 
 from px_generate_uorb_topic_helper import * # this is in Tools/
 
-uorb_struct = '%s_s'%spec.short_name
+uorb_struct = '%s_s'%name_snake_case
-uorb_struct_upper = spec.short_name.upper()
+uorb_struct_upper = name_snake_case.upper()
-topic_name = spec.short_name
 }@
 
 #pragma once
@@ -77,6 +77,8 @@ for field in spec.parsed_fields():
         if (not field.is_header):
             (package, name) = genmsg.names.package_resource_name(field.base_type)
             package = package or spec.package # convert '' to package
+
+            name = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
             print('#include <uORB/topics/%s.h>'%(name))
 }@
 
@@ -127,9 +129,17 @@ for constant in spec.constants:
 #endif
 };
 
+#ifdef __cplusplus
+namespace px4 {
+	namespace msg {
+		using @(spec.short_name) = @(uorb_struct);
+	} // namespace msg
+} // namespace px4
+#endif
+
 /* register this as object request broker structure */
-@[for multi_topic in topics]@
+@[for topic in topics]@
-ORB_DECLARE(@multi_topic);
+ORB_DECLARE(@topic);
 @[end for]
 
 #ifdef __cplusplus

Tools/msg/templates/uorb/uORBTopics.cpp.em

@@ -8,11 +8,11 @@
 @#
 @# Context:
 @#  - msgs (List) list of all msg files
-@#  - topics (List) list of all topic names
+@#  - multi_topics (List) list of all multi-topic names
 @###############################################
 /****************************************************************************
  *
- *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2022 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
@@ -46,19 +46,22 @@
 #include <uORB/topics/uORBTopics.hpp>
 #include <uORB/uORB.h>
 @{
-msg_names = [mn.replace(".msg", "") for mn in msgs]
+msg_names = list(set([mn.replace(".msg", "") for mn in msgs])) # set() filters duplicates
+msg_names.sort()
 msgs_count = len(msg_names)
-topics_all = topics
+
-topics_all.sort()
+topic_names = list(set(topics)) # set() filters duplicates
-topics_count_all = len(topics_all)
+topic_names.sort()
+topics_count = len(topics)
+
 }@
 @[for msg_name in msg_names]@
 #include <uORB/topics/@(msg_name).h>
 @[end for]
 
 const constexpr struct orb_metadata *const uorb_topics_list[ORB_TOPICS_COUNT] = {
-@[for idx, topic_name in enumerate(topics_all, 1)]@
+@[for idx, topic_name in enumerate(topic_names, 1)]@
-	ORB_ID(@(topic_name))@[if idx != topics_count_all], @[end if]
+	ORB_ID(@(topic_name))@[if idx != topic_names], @[end if]
 @[end for]
 };
 

Tools/msg/templates/uorb/uORBTopics.hpp.em

@@ -7,12 +7,11 @@
 @# Start of Template
 @#
 @# Context:
-@#  - msgs (List) list of all msg files
 @#  - topics (List) list of all topic names
 @###############################################
 /****************************************************************************
  *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2021-2022 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
@@ -44,11 +43,9 @@
  ****************************************************************************/
 
 @{
-msg_names = [mn.replace(".msg", "") for mn in msgs]
+topics_count = len(topics)
-msgs_count = len(msg_names)
+topic_names_all = list(set(topics)) # set() filters duplicates
-topics_all = topics
+topic_names_all.sort()
-topics_all.sort()
-topics_count_all = len(topics_all)
 }@
 
 #pragma once
@@ -57,7 +54,7 @@ topics_count_all = len(topics_all)
 
 #include <uORB/uORB.h>
 
-static constexpr size_t ORB_TOPICS_COUNT{@(topics_count_all)};
+static constexpr size_t ORB_TOPICS_COUNT{@(topics_count)};
 static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
 
 /*
@@ -66,8 +63,8 @@ static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
 extern const struct orb_metadata *const *orb_get_topics() __EXPORT;
 
 enum class ORB_ID : uint8_t {
-@[for idx, msg_name in enumerate(topics_all)]@
+@[for idx, topic_name in enumerate(topic_names_all)]@
-	@(msg_name) = @(idx),
+	@(topic_name) = @(idx),
 @[end for]
 	INVALID
 };

Tools/setup/arch.sh

@@ -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 \

Tools/setup/ubuntu.sh

@@ -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"
@@ -216,7 +214,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	else
 		java_version=14
 	fi
-	# Java (jmavsim or fastrtps)
+	# Java (jmavsim)
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		ant \
 		openjdk-$java_version-jre \

Tools/update_px4_ros2_bridge.sh

@@ -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

boards/beaglebone/blue/default.px4board

@@ -48,6 +48,7 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y

boards/cubepilot/cubeorange/default.px4board

@@ -34,7 +34,6 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -53,7 +52,6 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -63,6 +61,7 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y

boards/diatone/mamba-f405-mk2/default.px4board

@@ -15,7 +15,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y

boards/emlid/navio2/default.px4board

@@ -50,6 +50,7 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y

boards/holybro/kakutef7/default.px4board

@@ -29,6 +29,7 @@ CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y

boards/holybro/kakuteh7/default.px4board

@@ -56,6 +56,7 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y

boards/matek/h743-mini/default.px4board

@@ -53,6 +53,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y

boards/matek/h743-slim/default.px4board

@@ -52,6 +52,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y

boards/matek/h743/default.px4board

@@ -53,6 +53,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y

boards/modalai/fc-v1/default.px4board

@@ -66,6 +66,7 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y

boards/modalai/fc-v1/rtps.px4board

@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y

boards/modalai/fc-v2/default.px4board

@@ -36,7 +36,6 @@ CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
@@ -54,7 +53,6 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -64,6 +62,7 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y

boards/mro/ctrl-zero-classic/default.px4board

@@ -62,6 +62,7 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y

boards/mro/ctrl-zero-h7-oem/default.px4board

@@ -62,6 +62,7 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y

boards/mro/ctrl-zero-h7-oem/rtps.px4board

@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y

boards/mro/ctrl-zero-h7/default.px4board

@@ -63,6 +63,7 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y

boards/mro/ctrl-zero-h7/rtps.px4board

@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y

boards/mro/pixracerpro/default.px4board

@@ -62,6 +62,7 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y

boards/mro/pixracerpro/rtps.px4board

@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y

boards/nxp/fmuk66-e/default.px4board

@@ -41,6 +41,7 @@ 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
@@ -49,6 +50,7 @@ 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
@@ -64,7 +66,7 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -75,7 +77,6 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y

boards/nxp/fmuk66-e/rtps.px4board

@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y

boards/nxp/fmuk66-v3/default.px4board

@@ -68,6 +68,7 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y

boards/nxp/fmuk66-v3/rtps.px4board

@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y

boards/nxp/fmurt1062-v1/default.px4board

@@ -45,6 +45,7 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y