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mavros.patch
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diff --git a/mavros/include/mavros/mavros_router.hpp b/mavros/include/mavros/mavros_router.hpp
index 7d409f68..9e85c278 100644
--- a/mavros/include/mavros/mavros_router.hpp
+++ b/mavros/include/mavros/mavros_router.hpp
@@ -69,7 +69,11 @@ class Router;
class Endpoint : public std::enable_shared_from_this<Endpoint>
{
public:
- RCLCPP_SMART_PTR_DEFINITIONS(Endpoint)
+ // RCLCPP_SMART_PTR_DEFINITIONS(Endpoint)
+ using Ptr = std::shared_ptr<Endpoint>;
+ using ConstPtr = std::shared_ptr<const Endpoint>;
+ using UniquePtr = std::unique_ptr<Endpoint>;
+ using ConstUniquePtr = std::unique_ptr<const Endpoint>;
enum class Type
{
@@ -134,7 +138,11 @@ public:
class Router : public rclcpp::Node
{
public:
- RCLCPP_SMART_PTR_DEFINITIONS(Router)
+ // RCLCPP_SMART_PTR_DEFINITIONS(Router)
+ using Ptr = std::shared_ptr<Router>;
+ using ConstPtr = std::shared_ptr<const Router>;
+ using UniquePtr = std::unique_ptr<Router>;
+ using ConstUniquePtr = std::unique_ptr<const Router>;
using StrV = std::vector<std::string>;
@@ -186,7 +194,7 @@ public:
RCLCPP_INFO(get_logger(), "MAVROS Router started");
}
- void route_message(Endpoint::SharedPtr src, const mavlink_message_t * msg, const Framing framing);
+ void route_message(Endpoint::Ptr src, const mavlink_message_t * msg, const Framing framing);
private:
friend class Endpoint;
@@ -197,7 +205,7 @@ private:
std::shared_timed_mutex mu;
// map stores all routing endpoints
- std::unordered_map<id_t, Endpoint::SharedPtr> endpoints;
+ std::unordered_map<id_t, Endpoint::Ptr> endpoints;
std::atomic<size_t> stat_msg_routed; //!< amount of messages came to route_messages()
std::atomic<size_t> stat_msg_sent; //!< amount of messages sent
diff --git a/mavros/include/mavros/mavros_uas.hpp b/mavros/include/mavros/mavros_uas.hpp
index 2aed4b41..b69f4684 100644
--- a/mavros/include/mavros/mavros_uas.hpp
+++ b/mavros/include/mavros/mavros_uas.hpp
@@ -231,7 +231,11 @@ private:
class UAS : public rclcpp::Node
{
public:
- RCLCPP_SMART_PTR_DEFINITIONS(UAS)
+ // RCLCPP_SMART_PTR_DEFINITIONS(UAS)
+ using Ptr = std::shared_ptr<UAS>;
+ using ConstPtr = std::shared_ptr<const UAS>;
+ using UniquePtr = std::unique_ptr<UAS>;
+ using ConstUniquePtr = std::unique_ptr<const UAS>;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
// other UAS aliases
@@ -588,7 +592,7 @@ private:
// plugins
pluginlib::ClassLoader<plugin::PluginFactory> plugin_factory_loader;
- std::vector<plugin::Plugin::SharedPtr> loaded_plugins;
+ std::vector<plugin::Plugin::Ptr> loaded_plugins;
//! UAS link -> router -> plugin handler
std::unordered_map<mavlink::msgid_t, plugin::Plugin::Subscriptions> plugin_subscriptions;
@@ -627,7 +631,7 @@ private:
bool is_plugin_allowed(const std::string & pl_name);
//! makes an instance of the plugin
- virtual plugin::Plugin::SharedPtr create_plugin_instance(const std::string & pl_name);
+ virtual plugin::Plugin::Ptr create_plugin_instance(const std::string & pl_name);
//! load plugin
void add_plugin(const std::string & pl_name);
diff --git a/mavros/include/mavros/plugin.hpp b/mavros/include/mavros/plugin.hpp
index ee4c48bb..9128267a 100644
--- a/mavros/include/mavros/plugin.hpp
+++ b/mavros/include/mavros/plugin.hpp
@@ -65,7 +65,11 @@ private:
explicit Plugin(const Plugin &) = delete;
public:
- RCLCPP_SMART_PTR_DEFINITIONS(Plugin)
+ // RCLCPP_SMART_PTR_DEFINITIONS(Plugin)
+ using Ptr = std::shared_ptr<Plugin>;
+ using ConstPtr = std::shared_ptr<const Plugin>;
+ using UniquePtr = std::unique_ptr<Plugin>;
+ using ConstUniquePtr = std::unique_ptr<const Plugin>;
//! generic message handler callback
using HandlerCb = mavconn::MAVConnInterface::ReceivedCb;
@@ -283,7 +287,7 @@ public:
PluginFactory() = default;
virtual ~PluginFactory() = default;
- virtual Plugin::SharedPtr create_plugin_instance(UASPtr uas) = 0;
+ virtual Plugin::Ptr create_plugin_instance(UASPtr uas) = 0;
};
//! Helper template to make plugin factories
@@ -294,7 +298,7 @@ public:
PluginFactoryTemplate() = default;
virtual ~PluginFactoryTemplate() = default;
- Plugin::SharedPtr create_plugin_instance(UASPtr uas) override
+ Plugin::Ptr create_plugin_instance(UASPtr uas) override
{
static_assert(
std::is_base_of<Plugin, _T>::value,
diff --git a/mavros/include/mavros/plugin_filter.hpp b/mavros/include/mavros/plugin_filter.hpp
index 3d3b28a1..b73fe035 100644
--- a/mavros/include/mavros/plugin_filter.hpp
+++ b/mavros/include/mavros/plugin_filter.hpp
@@ -32,7 +32,7 @@ namespace filter
{
using mavros::plugin::Filter;
using mavros::uas::UAS;
-using UASPtr = UAS::SharedPtr;
+using UASPtr = UAS::Ptr;
using mavconn::Framing;
diff --git a/mavros/src/lib/mavros_router.cpp b/mavros/src/lib/mavros_router.cpp
index ebb34601..50ab81e8 100644
--- a/mavros/src/lib/mavros_router.cpp
+++ b/mavros/src/lib/mavros_router.cpp
@@ -34,7 +34,7 @@ static inline uint8_t get_msg_byte(const mavlink_message_t * msg, uint8_t offset
}
void Router::route_message(
- Endpoint::SharedPtr src, const mavlink_message_t * msg,
+ Endpoint::Ptr src, const mavlink_message_t * msg,
const Framing framing)
{
shared_lock lock(mu);
@@ -118,7 +118,7 @@ void Router::add_endpoint(
id_t id = id_counter.fetch_add(1);
- Endpoint::SharedPtr ep;
+ Endpoint::Ptr ep;
if (request->type == mavros_msgs::srv::EndpointAdd::Request::TYPE_UAS) {
ep = std::make_shared<ROSEndpoint>();
} else {
diff --git a/mavros/src/lib/mavros_uas.cpp b/mavros/src/lib/mavros_uas.cpp
index e185df6a..42f6ec08 100644
--- a/mavros/src/lib/mavros_uas.cpp
+++ b/mavros/src/lib/mavros_uas.cpp
@@ -259,7 +259,7 @@ inline bool is_mavlink_message_t(const size_t rt)
return h == rt;
}
-plugin::Plugin::SharedPtr UAS::create_plugin_instance(const std::string & pl_name)
+plugin::Plugin::Ptr UAS::create_plugin_instance(const std::string & pl_name)
{
auto plugin_factory = plugin_factory_loader.createSharedInstance(pl_name);
diff --git a/mavros/test/test_router.cpp b/mavros/test/test_router.cpp
index 1f68c16d..7f13c674 100644
--- a/mavros/test/test_router.cpp
+++ b/mavros/test/test_router.cpp
@@ -87,7 +87,7 @@ public:
rclcpp::shutdown();
}
- Router::SharedPtr create_node()
+ Router::Ptr create_node()
{
auto router = std::make_shared<Router>("test_mavros_router");
@@ -120,13 +120,13 @@ public:
return router;
}
- MockEndpoint::SharedPtr getep(Router::SharedPtr router, id_t id)
+ MockEndpoint::SharedPtr getep(Router::Ptr router, id_t id)
{
auto ep = router->endpoints[id];
return std::static_pointer_cast<MockEndpoint>(ep);
}
- std::unordered_map<id_t, Endpoint::SharedPtr> & get_endpoints(Router::SharedPtr router)
+ std::unordered_map<id_t, Endpoint::Ptr> & get_endpoints(Router::Ptr router)
{
return router->endpoints;
}
@@ -166,17 +166,17 @@ public:
return hb;
}
- inline size_t get_stat_msg_routed(Router::SharedPtr router)
+ inline size_t get_stat_msg_routed(Router::Ptr router)
{
return router->stat_msg_routed.load();
}
- inline size_t get_stat_msg_sent(Router::SharedPtr router)
+ inline size_t get_stat_msg_sent(Router::Ptr router)
{
return router->stat_msg_sent.load();
}
- inline size_t get_stat_msg_dropped(Router::SharedPtr router)
+ inline size_t get_stat_msg_dropped(Router::Ptr router)
{
return router->stat_msg_dropped.load();
}
diff --git a/mavros/test/test_uas.cpp b/mavros/test/test_uas.cpp
index f207f5eb..5678a362 100644
--- a/mavros/test/test_uas.cpp
+++ b/mavros/test/test_uas.cpp
@@ -53,7 +53,7 @@ public:
explicit MockUAS(const std::string name_)
: UAS(name_) {}
- MOCK_METHOD1(create_plugin_instance, plugin::Plugin::SharedPtr(const std::string & pl_name));
+ MOCK_METHOD1(create_plugin_instance, plugin::Plugin::Ptr(const std::string & pl_name));
};
class MockPlugin : public plugin::Plugin
@@ -61,12 +61,12 @@ class MockPlugin : public plugin::Plugin
public:
using SharedPtr = std::shared_ptr<MockPlugin>;
- explicit MockPlugin(UAS::SharedPtr uas_)
+ explicit MockPlugin(UAS::Ptr uas_)
: Plugin(uas_) {}
MOCK_METHOD0(get_subscriptions, plugin::Plugin::Subscriptions(void));
- inline plugin::Plugin::SharedPtr getptr()
+ inline plugin::Plugin::Ptr getptr()
{
return std::static_pointer_cast<plugin::Plugin>(shared_from_this());
}
diff --git a/mavros_extras/CHANGELOG.rst b/mavros_extras/CHANGELOG.rst
deleted file mode 100644
index b65333d5..00000000
--- a/mavros_extras/CHANGELOG.rst
+++ /dev/null
@@ -1,1537 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package mavros_extras
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-2.8.0 (2024-06-07)
-------------------
-* gimbal_control: fix build
-* gimbal_control: fix using
-* gimbal_control: connect service on use
-* regenerate all using cogall.sh
-* reformat with jazzy's ament_uncrustify
-* Merge branch 'master' into ros2
- * master:
- 1.19.0
- update changelog
- gps_global_origin: remove LLA to ECEF conversion
-* 1.19.0
-* update changelog
-* removed prefix in enums in messages and changed to use existing functions for string and quaternion convert
-* Adding example service calls
-* Code cleanup
-* Removed exception after testing behavior
- Replaced with service call failure with MAV_RESULT_DENIED result value (2)
-* Corrected build errors and warnings
-* Final touches
- Added functionality that was overlooked for camera tracking if supported, added copyright info, added custom exception thrown when mode enumerator is not understood
-* Added gimbal_control plugin
- Added all functionality to support a plugin to enable compatibility with MAVLink Gimbal Protocol v2
-* Contributors: Frederik Mazur Andersen, Mark-Beaty, Vladimir Ermakov
-
-1.19.0 (2024-06-06)
--------------------
-
-2.7.0 (2024-03-03)
-------------------
-* re-generate with cogall.sh
-* Merge branch 'master' into ros2
- * master:
- 1.18.0
- update changelog
- sys_status.cpp: improve timeout code
- sys_status.cpp: Add a SYS_STATUS message publisher
- [camera plugin] Fix image_index and capture_result not properly filled
- Fix missing semi-colon
- GPS_STATUS Plugin: Fill in available messages for ROS1 legacy
-* 1.18.0
-* update changelog
-* [camera plugin] Fix image_index and capture_result not properly filled
-* [camera plugin] Fix image_index and capture_result not properly filled
-* Update mavros_plugins.xml
-* Update wheel_odometry.cpp
- fix typo
-* Fix typo
- fix typo in odometry frame child id
-* Removed unused variable
-* Use SensorDataQoS for gp_origin subscriber
-* Fix missing semi-colon
-* GPS_STATUS Plugin: Fill in available messages for ROS1 legacy
- Filled in available fields in GPS_RAW_INT & GPS2_RAW messages
- p.s. seems GPS2_RAW more complete than original GPS_RAW_INT
-* Define _frd frames in odom plugin based on parent/child frame parametrs
-* Contributors: Beniamino Pozzan, Kristoffer Bergman, Matteo Molinari, Mattia Giurato, Mohamed Abdelkader, Seunghwan Jo, Vladimir Ermakov, hpbrandal
-
-1.18.0 (2024-03-03)
--------------------
-* [camera plugin] Fix image_index and capture_result not properly filled
-* Fix missing semi-colon
-* GPS_STATUS Plugin: Fill in available messages for ROS1 legacy
- Filled in available fields in GPS_RAW_INT & GPS2_RAW messages
- p.s. seems GPS2_RAW more complete than original GPS_RAW_INT
-* Contributors: Beniamino Pozzan, Seunghwan Jo
-
-2.6.0 (2023-09-09)
-------------------
-* switch to use tf2_eigen.hpp, but that drops support for EOL distros
-* ament uncrustify
-* cog: regenerate all
-* Merge branch 'master' into ros2
- * master:
- 1.17.0
- update changelog
- cog: regenerate all
- Bugfix/update map origin with home position (`#1892 <https://github.com/mavlink/mavros/issues/1892>`_)
- mavros: Remove extra ';'
- mavros_extras: Fix some init order warnings
- Suppress warnings from included headers
- 1.16.0
- update changelog
- made it such that the gp_origin topic published latched.
- use hpp instead of deprecated .h pluginlib headers
-* 1.17.0
-* update changelog
-* Merge pull request `#1889 <https://github.com/mavlink/mavros/issues/1889>`_ from MKargus0/feature/fix_landing_target_time_conversion
- Fixed header.stamp conversion in landing target
-* fixed style
-* fixed header.stamp conversion in landing target
-* Merge pull request `#1871 <https://github.com/mavlink/mavros/issues/1871>`_ from Vladislavert/feature/optical_flow_msg
- Addition of New OpticalFlow.msg
-* Added geometry_msgs/Vector3 to OpticalFlow.msg
-* Added vectors to the message OpticalFlow.msg
-* Added message optical flow
-* Merge pull request `#1865 <https://github.com/mavlink/mavros/issues/1865>`_ from scoutdi/warnings
- Fix / suppress some build warnings
-* mavros_extras: Fix some init order warnings
-* Suppress warnings from included headers
-* 1.16.0
-* update changelog
-* Merge pull request `#1817 <https://github.com/mavlink/mavros/issues/1817>`_ from lucasw/pluginlib_hpp
- use hpp instead of deprecated .h pluginlib headers
-* use hpp instead of deprecated .h pluginlib headers
-* Contributors: Lucas Walter, Mikhail Kolodochka, Morten Fyhn Amundsen, Vladimir Ermakov, Vladislavert
-
-2.5.0 (2023-05-05)
-------------------
-
-2.4.0 (2022-12-30)
-------------------
-* extras: uncrustify
-* extras: fix build, 2
-* extras: fix build
-* extras: fix cog
-* Merge branch 'master' into ros2
- * master:
- 1.15.0
- update changelog
- ci: update actions
- Implement debug float array handler
- mavros_extras: Fix a sequence point warning
- mavros_extras: Fix a comparison that shouldn't be bitwise
- mavros: Fix some warnings
- mavros_extras: Fix buggy check for lat/lon ignored
- libmavconn: fix MAVLink v1.0 output selection
-* 1.15.0
-* update changelog
-* Merge pull request `#1811 <https://github.com/mavlink/mavros/issues/1811>`_ from scoutdi/debug-float-array
- Implement debug float array handler
-* Implement debug float array handler
- Co-authored-by: Morten Fyhn Amundsen <[email protected]>
-* Merge pull request `#1807 <https://github.com/mavlink/mavros/issues/1807>`_ from scoutdi/fix-bitwise-comparison
- mavros_extras: Fix a comparison that shouldn't be bitwise
-* Merge pull request `#1808 <https://github.com/mavlink/mavros/issues/1808>`_ from scoutdi/fix-sequence-point-warning
- mavros_extras: Fix a sequence point warning
-* mavros_extras: Fix a sequence point warning
-* mavros_extras: Fix a comparison that shouldn't be bitwise
-* Merge pull request `#1805 <https://github.com/mavlink/mavros/issues/1805>`_ from scoutdi/fix-latlon-check
- mavros_extras: Fix buggy check for lat/lon ignored
-* mavros_extras: Fix buggy check for lat/lon ignored
-* Contributors: Morten Fyhn Amundsen, Sverre Velten Rothmund, Vladimir Ermakov
-
-2.3.0 (2022-09-24)
-------------------
-* extras: fix linter errors
-* extras: fix toMsg
-* extras: fix build
-* extras: port guided_target
-* mavros: remove custom find script, re-generate
-* Merge branch 'master' into ros2
- * master:
- 1.14.0
- update changelog
- scripts: waypoint and param files are text, not binary
- libmavconn: fix MAVLink v1.0 output selection
- plugins: add guided_target to accept offboard position targets
- add cmake module path for geographiclib on debian based systems
- use already installed FindGeographicLib.cmake
-* 1.14.0
-* update changelog
-* Merge pull request `#1780 <https://github.com/mavlink/mavros/issues/1780>`_ from snktshrma/master
- guided_target: accept position-target-global-int messages
-* plugins: add guided_target to accept offboard position targets
- Update guided_target.cpp
- Update guided_target.cpp
- Update mavros_plugins.xml
- Update CMakeLists.txt
- Added offboard_position.cpp
- Update apm_config.yaml
- Update offboard_position.cpp
- Update offboard_position.cpp
- Rename offboard_position.cpp to guided_target.cpp
- Update CMakeLists.txt
- Update mavros_plugins.xml
- Update apm_config.yaml
- Update guided_target.cpp
-* Contributors: Sanket Sharma, Vladimir Ermakov
-
-2.2.0 (2022-06-27)
-------------------
-* extras: fix build
-* extras: fix build
-* Merge branch 'master' into ros2
- * master:
- mount_control.cpp: detect MOUNT_ORIENTATION stale messages
- ESCTelemetryItem.msg: correct RPM units
- apm_config.yaml: add mount configuration
- sys_status.cpp fix free memory for values > 64KiB
- uncrustify cellular_status.cpp
- Add CellularStatus plugin and message
- *_config.yaml: document usage of multiple batteries diagnostics
- sys_status.cpp: fix compilation
- sys_status.cpp: support diagnostics on up-to 10 batteries
- sys_status.cpp: do not use harcoded constants
- sys_status.cpp: Timeout on MEMINFO and HWSTATUS mavlink messages and publish on the diagnostics
- sys_status.cpp: fix enabling of mem_diag and hwst_diag
- sys_status.cpp: Do not use battery1 voltage as voltage for all other batteries (bugfix).
- sys_status.cpp: ignore sys_status mavlink messages from gimbals
- mount_control.cpp: use mount_nh for params to keep similarities with other plugins set diag settings before add()
- sys_status.cpp: remove deprecated BATTERY2 mavlink message support
- Mount control plugin: add configurable diagnostics
- Bugfix: increment_f had no value asigned when input LaserScan was bigger than obstacle.distances.size()
- Bugfix: wrong interpolation when the reduction ratio (scale_factor) is not integer.
- Disable startup_px4_usb_quirk in px4_config.yaml
-* cmake: style fix
-* cmake: downgrade to C++17 as 20 breaks something in rclcpp
-* cmake: hide -std=c++2a
-* Merge pull request `#1744 <https://github.com/mavlink/mavros/issues/1744>`_ from amilcarlucas/pr_gimbal_diagnostics_fixes
- mount_control.cpp: detect MOUNT_ORIENTATION stale messages
-* extras: fix cog re to extract plugin name
-
-1.17.0 (2023-09-09)
--------------------
-* Merge pull request `#1865 <https://github.com/mavlink/mavros/issues/1865>`_ from scoutdi/warnings
- Fix / suppress some build warnings
-* mavros_extras: Fix some init order warnings
-* Suppress warnings from included headers
-* Contributors: Morten Fyhn Amundsen, Vladimir Ermakov
-
-1.16.0 (2023-05-05)
--------------------
-* Merge pull request `#1817 <https://github.com/mavlink/mavros/issues/1817>`_ from lucasw/pluginlib_hpp
- use hpp instead of deprecated .h pluginlib headers
-* use hpp instead of deprecated .h pluginlib headers
-* Contributors: Lucas Walter, Vladimir Ermakov
-
-1.15.0 (2022-12-30)
--------------------
-* Merge pull request `#1811 <https://github.com/mavlink/mavros/issues/1811>`_ from scoutdi/debug-float-array
- Implement debug float array handler
-* Implement debug float array handler
- Co-authored-by: Morten Fyhn Amundsen <[email protected]>
-* Merge pull request `#1807 <https://github.com/mavlink/mavros/issues/1807>`_ from scoutdi/fix-bitwise-comparison
- mavros_extras: Fix a comparison that shouldn't be bitwise
-* Merge pull request `#1808 <https://github.com/mavlink/mavros/issues/1808>`_ from scoutdi/fix-sequence-point-warning
- mavros_extras: Fix a sequence point warning
-* mavros_extras: Fix a sequence point warning
-* mavros_extras: Fix a comparison that shouldn't be bitwise
-* Merge pull request `#1805 <https://github.com/mavlink/mavros/issues/1805>`_ from scoutdi/fix-latlon-check
- mavros_extras: Fix buggy check for lat/lon ignored
-* mavros_extras: Fix buggy check for lat/lon ignored
-* Contributors: Morten Fyhn Amundsen, Sverre Velten Rothmund, Vladimir Ermakov
-
-1.14.0 (2022-09-24)
--------------------
-* Merge pull request `#1780 <https://github.com/mavlink/mavros/issues/1780>`_ from snktshrma/master
- guided_target: accept position-target-global-int messages
-* plugins: add guided_target to accept offboard position targets
- Update guided_target.cpp
- Update guided_target.cpp
- Update mavros_plugins.xml
- Update CMakeLists.txt
- Added offboard_position.cpp
- Update apm_config.yaml
- Update offboard_position.cpp
- Update offboard_position.cpp
- Rename offboard_position.cpp to guided_target.cpp
- Update CMakeLists.txt
- Update mavros_plugins.xml
- Update apm_config.yaml
- Update guided_target.cpp
-* Merge pull request `#1744 <https://github.com/mavlink/mavros/issues/1744>`_ from amilcarlucas/pr_gimbal_diagnostics_fixes
- mount_control.cpp: detect MOUNT_ORIENTATION stale messages
-* mount_control.cpp: detect MOUNT_ORIENTATION stale messages
- correct MountConfigure response success
- correct constructor initialization order
- some gimbals send negated/inverted angle measurements, correct that to obey the MAVLink frame convention using run-time parameters
-* Merge pull request `#1735 <https://github.com/mavlink/mavros/issues/1735>`_ from clydemcqueen/fix_1734
- Fix crash in vision_pose plugin
-* Remove unrelated log message
-* Initialize last_transform_stamp with RCL_ROS_TIME, fixes `#1734 <https://github.com/mavlink/mavros/issues/1734>`_
-* Merge pull request `#1727 <https://github.com/mavlink/mavros/issues/1727>`_ from BV-OpenSource/pr-cellular-status
- Pr cellular status
-* uncrustify cellular_status.cpp
-* Add CellularStatus plugin and message
-* Merge pull request `#1702 <https://github.com/mavlink/mavros/issues/1702>`_ from amilcarlucas/mount_diagnostics
- Mount control plugin: add configurable diagnostics
-* mount_control.cpp: use mount_nh for params to keep similarities with other plugins
- set diag settings before add()
-* Mount control plugin: add configurable diagnostics
-* Merge pull request `#1700 <https://github.com/mavlink/mavros/issues/1700>`_ from oroelipas/fix-obstacle-distance
- Fix obstacle distance
-* Bugfix: increment_f had no value asigned when input LaserScan was bigger than obstacle.distances.size()
-* Bugfix: wrong interpolation when the reduction ratio (scale_factor) is not integer.
-* Contributors: Clyde McQueen, Dr.-Ing. Amilcar do Carmo Lucas, Rui Mendes, Vladimir Ermakov, oroel
-
-2.1.1 (2022-03-02)
-------------------
-* plugins: Fix misprint
- Fix `#1709 <https://github.com/mavlink/mavros/issues/1709>`_
-* Contributors: Vladimir Ermakov
-
-2.1.0 (2022-02-02)
-------------------
-* plugins: fix topic names to use prefix for namespaced ones
-* plugins: fix topic names to use prefix for namespaced ones
-* ci: fix several lint warnings
-* extras: terrain: fix copy-paste artifact
-* extras: port terrain plugin
-* Merge branch 'master' into ros2
- * master:
- 1.13.0
- update changelog
- py-lib: fix compatibility with py3 for Noetic
- re-generate all coglets
- test: add checks for ROTATION_CUSTOM
- lib: Fix rotation search for CUSTOM
- Removed CamelCase for class members. Publish to "report"
- More explicitly state "TerrainReport" to allow for future extension of the plugin to support other terrain messages
- Fixed callback name to match `handle\_{MESSAGE_NAME.lower()}` convention
- Add extra MAV_FRAMES to waypoint message as defined in https://mavlink.io/en/messages/common.html
- Fixed topic names to match more closely what other plugins use. Fixed a typo.
- Add plugin for reporting terrain height estimate from FCU
- 1.12.2
- update changelog
- Set time/publish_sim_time to false by default
- plugin: setpoint_raw: move getParam to initializer
- extras: trajectory: backport `#1667 <https://github.com/mavlink/mavros/issues/1667>`_
-* 1.13.0
-* update changelog
-* Merge pull request `#1677 <https://github.com/mavlink/mavros/issues/1677>`_ from AndersonRayner/add_terrain
- Add plugin for reporting terrain height estimate from the FCU
-* Removed CamelCase for class members. Publish to "report"
-* More explicitly state "TerrainReport" to allow for future extension of the plugin to support other terrain messages
-* Fixed callback name to match `handle\_{MESSAGE_NAME.lower()}` convention
-* Fixed topic names to match more closely what other plugins use. Fixed a typo.
-* Add plugin for reporting terrain height estimate from FCU
-* 1.12.2
-* update changelog
-* Merge pull request `#1675 <https://github.com/mavlink/mavros/issues/1675>`_ from BOB4Drone/ros2
- fix bof
-* Update mag_calibration_status.cpp
-* fix code style
- fix code style
-* Update mag_calibration_status.cpp
-* fix misprint and use size()
- fix misprint and use size()
-* fix bof
- fix `#1668 <https://github.com/mavlink/mavros/issues/1668>`_
-* extras: trajectory: backport `#1667 <https://github.com/mavlink/mavros/issues/1667>`_
-* extras: trajectory: make linter happy after `#1667 <https://github.com/mavlink/mavros/issues/1667>`_
-* Merge pull request `#1667 <https://github.com/mavlink/mavros/issues/1667>`_ from BOB4Drone/ros2
- fix bof
-* fix bof
-* Merge branch 'master' into ros2
- * master:
- 1.12.1
- update changelog
- mavconn: fix connection issue introduced by `#1658 <https://github.com/mavlink/mavros/issues/1658>`_
- mavros_extras: Fix some warnings
- mavros: Fix some warnings
-* 1.12.1
-* update changelog
-* Merge pull request `#1660 <https://github.com/mavlink/mavros/issues/1660>`_ from scoutdi/fix-warnings
- Fix warnings
-* mavros_extras: Fix some warnings
-* extras: fix parameter name
-* extras: fix topic names
-* Contributors: BOB4Drone, Morten Fyhn Amundsen, Vladimir Ermakov, matt
-
-2.0.5 (2021-11-28)
-------------------
-* extras: make cpplint happy
-* extras: fix most of build errors of SSP
-* extras: servo_state_publisher ported. almost...
-* extras: start porting servo_state_publisher
-* extras: make cpplint happy
-* extras: fix some linter errors.
- Do you know how to make me mad? Just let ament_uncrustify and
- ament_cpplint require opposite requirements!
-* fix some build warnings; drop old copter vis
-* Merge branch 'master' into ros2
- * master:
- 1.12.0
- update changelog
- Fix multiple bugs
- lib: fix mission frame debug print
- extras: distance_sensor: revert back to zero quaternion
-* 1.12.0
-* update changelog
-* extras: fix some more lint warns
-* plugin: fix some compile warnings
-* cmake: require C++20 to build all modules
-* extras: port distance_sensor plugin
-* extras: fix camera plugin
-* extras: port camera plugin
-* lib: ignore MAVPACKED-related warnings from mavlink
-* extras: distance_sensor: revert back to zero quaternion
- Fix `#1653 <https://github.com/mavlink/mavros/issues/1653>`_
-* msgs: update conversion header
-* Merge branch 'master' into ros2
- * master:
- 1.11.1
- update changelog
- lib: fix build
-* 1.11.1
-* update changelog
-* Merge branch 'master' into ros2
- * master:
- 1.11.0
- update changelog
- lib: fix ftf warnings
- msgs: use pragmas to ignore unaligned pointer warnings
- extras: landing_target: fix misprint
- msgs: fix convert const
- plugin: setpoint_raw: fix misprint
- msgs: try to hide 'unaligned pointer' warning
- plugin: sys: fix compillation error
- plugin: initialize quaternions with identity
- plugin: sys: Use wall timers for connection management
- Use meters for relative altitude
- distance_sensor: Initialize sensor orientation quaternion to zero
- Address review comments
- Add camera plugin for interfacing with mavlink camera protocol
-* 1.11.0
-* update changelog
-* extras: landing_target: fix misprint
-* plugin: initialize quaternions with identity
- Eigen::Quaternion[d|f] () does not initialize with zeroes or identity.
- So we must initialize with identity vector objects that can be left
- unassigned.
- Related to `#1652 <https://github.com/mavlink/mavros/issues/1652>`_
-* Merge pull request `#1651 <https://github.com/mavlink/mavros/issues/1651>`_ from Jaeyoung-Lim/pr-image-capture-plugin
- Add camera plugin for interfacing with mavlink camera protocol
-* Merge pull request `#1652 <https://github.com/mavlink/mavros/issues/1652>`_ from scoutdi/avoid-uninit-orientation
- distance_sensor: Initialize sensor orientation quaternion to zero
-* Use meters for relative altitude
-* distance_sensor: Initialize sensor orientation quaternion to zero
- Without this, you'll get random garbage data for the quaternion field
- of the DISTANCE_SENSOR MAVLink messages sent to the autopilot.
- The quaternion field should be set to zero when unused, according to the
- MAVLink message's field description.
-* Address review comments
-* Add camera plugin for interfacing with mavlink camera protocol
- Add camera image captured message for handling camera trigger information
-* extras: port fake_gps
-* extras: port tunnel
-* extras: update metadata
-* extras: port hil
-* extras: fix odom
-* extras: port odom
-* extras: port px4flow
-* extras: fix some linter warnings
-* extras: fix some linter warnings
-* extras: fix some linter warnings
-* extras: fix some linter warnings
-* extras: port wheel_odometry (partially)
-* extras: port vision_speed
-* extras: port vibration
-* extras: port vfr_hud
-* extras: port trajectory
-* extras: port rangefinder
-* extras: port onboard computer status, play_tune
-* extras: fix linter warnings
-* extras: port obstacle_distance
-* extras: update metadata xml
-* extras: port mount_control
-* extras: fix build for Foxy
-* extras: port mocap
-* extras: port mag cal status
-* extras: port log_transfer
-* extras: fix rtcm seq
-* extras: port gps_rtk
-* extras: port gps_input
-* extras: fixing some linter warnings
-* extras: fixing some linter warnings
-* Contributors: Jaeyoung-Lim, Morten Fyhn Amundsen, Vladimir Ermakov
-
-2.0.4 (2021-11-04)
-------------------
-* Merge branch 'master' into ros2
- * master:
- 1.10.0
- prepare release
-* 1.10.0
-* prepare release
-* extras: remove safety_area as outdated
-* extras: port esc_telemetry
-* extras: port esc_status plugin
-* extras: porting gps_status
-* Merge branch 'master' into ros2
- * master: (25 commits)
- Remove reference
- Catch std::length_error in send_message
- Show ENOTCONN error instead of crash
- Tunnel: Check for invalid payload length
- Tunnel.msg: Generate enum with cog
- mavros_extras: Create tunnel plugin
- mavros_msgs: Add Tunnel message
- MountControl.msg: fix copy-paste
- sys_time.cpp: typo
- sys_time: publish /clock for simulation times
- 1.9.0
- update changelog
- Spelling corrections
- Changed OverrideRCIn to 18 channels
- This adds functionality to erase all logs on the SD card via mavlink
- publish BATTERY2 message as /mavros/battery2 topic
- Mavlink v2.0 specs for RC_CHANNELS_OVERRIDE accepts upto 18 channels. The plugin publishes channels 9 to 18 if the FCU protocol version is 2.0
- Added NAV_CONTROLLER_OUTPUT Plugin
- Added GPS_INPUT plugin
- Update esc_status plugin with datatype change on MAVLink.
- ...
-* Merge pull request `#1625 <https://github.com/mavlink/mavros/issues/1625>`_ from scoutdi/tunnel-plugin
- Plugin for TUNNEL messages
-* Tunnel: Check for invalid payload length
-* mavros_extras: Create tunnel plugin
-* Merge pull request `#1605 <https://github.com/mavlink/mavros/issues/1605>`_ from Peter010103/ros2
- mavros_extras: Ported vision_pose_estimate plugin for ROS2
-* 1.9.0
-* update changelog
-* Merge pull request `#1621 <https://github.com/mavlink/mavros/issues/1621>`_ from amilcarlucas/pr/mount-control-spelling
- Spelling corrections
-* Spelling corrections
-* Merge pull request `#1615 <https://github.com/mavlink/mavros/issues/1615>`_ from amilcarlucas/pr/erase-logs
- This adds functionality to erase all logs on the SD card via mavlink
-* Merge pull request `#1618 <https://github.com/mavlink/mavros/issues/1618>`_ from amilcarlucas/pr/GPS_INPUT-plugin
- Added GPS_INPUT plugin
-* This adds functionality to erase all logs on the SD card via mavlink
-* Added GPS_INPUT plugin
-* Merge pull request `#1606 <https://github.com/mavlink/mavros/issues/1606>`_ from BV-OpenSource/master
- Add Mount angles message for communications with ardupilotmega.
-* Merge branch 'master' into master
-* Update esc_status plugin with datatype change on MAVLink.
- ESC_INFO MAVLink message was updated to have negative temperates and also at a different resolution. This commit updates those changes on this side.
-* Convert status data from cdeg to rad.
-* Publish quaternion information with Mount Status mavlink message.
-* Add missing subscription.
-* extras: port cam_imu_sync
-* extras: re-generate cog
-* extras: port debug_value
-* Remove Mount_Status plugin. Add Status data to Mount_Control plugin. Remove Mount_Status message.
-* extras: fix build, add UAS::send_massage(msg, compid)
-* extras: port companion_process_status
-* msgs: re-generate file lists
-* style: apply ament_uncrustify --reformat
-* Merge branch 'master' into ros2
- * master:
- extras: esc_telemetry: fix build
- extras: fix esc_telemetry centi-volt/amp conversion
- extras: uncrustify all plugins
- plugins: reformat xml
- extras: reformat plugins xml
- extras: fix apm esc_telemetry
- msgs: fix types for apm's esc telemetry
- actually allocate memory for the telemetry information
- fixed some compile errors
- added esc_telemetry plugin
- Reset calibration flag when re-calibrating. Prevent wrong data output.
- Exclude changes to launch files.
- Delete debug files.
- Apply uncrustify changes.
- Set progress array to global to prevent erasing data.
- Move Compass calibration report to extras. Rewrite code based on instructions.
- Remove extra message from CMakeLists.
- Add message and service definition.
- Add compass calibration feedback status. Add service to call the 'Next' button in calibrations.
-* extras: esc_telemetry: fix build
-* extras: fix esc_telemetry centi-volt/amp conversion
-* extras: uncrustify all plugins
-* extras: reformat plugins xml
-* extras: fix apm esc_telemetry
-* actually allocate memory for the telemetry information
-* fixed some compile errors
-* added esc_telemetry plugin
-* Add Mount angles message for communications with ardupilotmega.
-* Added subscriber callback function for ROS2
-* Added initialise function in vision_pose_estimate
-* Boilerplate vision_pose_estimate plugin
-* extras: landing_target: disable tf listener, it segfaults
-* extras: regenerate plugins xml, ament_uncrustify
-* mavros_extras: improve landing_target logging
-* mavros_extras: ported landing_target plugin to ros2
-* Reset calibration flag when re-calibrating. Prevent wrong data output.
-* Delete debug files.
-* Apply uncrustify changes.
-* Set progress array to global to prevent erasing data.
-* Move Compass calibration report to extras. Rewrite code based on instructions.
-* extras: port 3dr radio
-* extras: add urdf package
-* extras: adsb: begin porting to ros2
-* Contributors: Abhijith Thottumadayil Jagadeesh, André Filipe, David Jablonski, Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Morten Fyhn Amundsen, Peter010103, Ricardo Marques, Russell, Vladimir Ermakov
-
-1.13.0 (2022-01-13)
--------------------
-* Merge pull request `#1677 <https://github.com/mavlink/mavros/issues/1677>`_ from AndersonRayner/add_terrain
- Add plugin for reporting terrain height estimate from the FCU
-* Removed CamelCase for class members. Publish to "report"
-* More explicitly state "TerrainReport" to allow for future extension of the plugin to support other terrain messages
-* Fixed callback name to match `handle\_{MESSAGE_NAME.lower()}` convention
-* Fixed topic names to match more closely what other plugins use. Fixed a typo.
-* Add plugin for reporting terrain height estimate from FCU
-* Contributors: Vladimir Ermakov, matt
-
-1.12.2 (2021-12-12)
--------------------
-* extras: trajectory: backport `#1667 <https://github.com/mavlink/mavros/issues/1667>`_
-* Contributors: Vladimir Ermakov
-
-1.12.1 (2021-11-29)
--------------------
-* Merge pull request `#1660 <https://github.com/mavlink/mavros/issues/1660>`_ from scoutdi/fix-warnings
- Fix warnings
-* mavros_extras: Fix some warnings
-* Contributors: Morten Fyhn Amundsen, Vladimir Ermakov
-
-1.12.0 (2021-11-27)
--------------------
-* extras: distance_sensor: revert back to zero quaternion
- Fix `#1653 <https://github.com/mavlink/mavros/issues/1653>`_
-* Contributors: Vladimir Ermakov
-
-1.11.1 (2021-11-24)
--------------------
-
-1.11.0 (2021-11-24)
--------------------
-* extras: landing_target: fix misprint
-* plugin: initialize quaternions with identity
- Eigen::Quaternion[d|f] () does not initialize with zeroes or identity.
- So we must initialize with identity vector objects that can be left
- unassigned.
- Related to `#1652 <https://github.com/mavlink/mavros/issues/1652>`_
-* Merge pull request `#1651 <https://github.com/mavlink/mavros/issues/1651>`_ from Jaeyoung-Lim/pr-image-capture-plugin
- Add camera plugin for interfacing with mavlink camera protocol
-* Merge pull request `#1652 <https://github.com/mavlink/mavros/issues/1652>`_ from scoutdi/avoid-uninit-orientation
- distance_sensor: Initialize sensor orientation quaternion to zero
-* Use meters for relative altitude
-* distance_sensor: Initialize sensor orientation quaternion to zero
- Without this, you'll get random garbage data for the quaternion field
- of the DISTANCE_SENSOR MAVLink messages sent to the autopilot.
- The quaternion field should be set to zero when unused, according to the
- MAVLink message's field description.
-* Address review comments
-* Add camera plugin for interfacing with mavlink camera protocol
- Add camera image captured message for handling camera trigger information
-* Contributors: Jaeyoung-Lim, Morten Fyhn Amundsen, Vladimir Ermakov
-
-1.10.0 (2021-11-04)
--------------------
-* Merge pull request `#1625 <https://github.com/mavlink/mavros/issues/1625>`_ from scoutdi/tunnel-plugin
- Plugin for TUNNEL messages
-* Tunnel: Check for invalid payload length
-* mavros_extras: Create tunnel plugin
-* Contributors: Morten Fyhn Amundsen, Vladimir Ermakov
-
-1.9.0 (2021-09-09)
-------------------
-* Merge pull request `#1621 <https://github.com/mavlink/mavros/issues/1621>`_ from amilcarlucas/pr/mount-control-spelling
- Spelling corrections
-* Spelling corrections
-* Merge pull request `#1615 <https://github.com/mavlink/mavros/issues/1615>`_ from amilcarlucas/pr/erase-logs
- This adds functionality to erase all logs on the SD card via mavlink
-* Merge pull request `#1618 <https://github.com/mavlink/mavros/issues/1618>`_ from amilcarlucas/pr/GPS_INPUT-plugin
- Added GPS_INPUT plugin
-* This adds functionality to erase all logs on the SD card via mavlink
-* Added GPS_INPUT plugin
-* Merge pull request `#1606 <https://github.com/mavlink/mavros/issues/1606>`_ from BV-OpenSource/master
- Add Mount angles message for communications with ardupilotmega.
-* Merge branch 'master' into master
-* Update esc_status plugin with datatype change on MAVLink.
- ESC_INFO MAVLink message was updated to have negative temperates and also at a different resolution. This commit updates those changes on this side.
-* Convert status data from cdeg to rad.
-* Publish quaternion information with Mount Status mavlink message.
-* Add missing subscription.
-* Remove Mount_Status plugin. Add Status data to Mount_Control plugin. Remove Mount_Status message.
-* extras: esc_telemetry: fix build
-* extras: fix esc_telemetry centi-volt/amp conversion
-* extras: uncrustify all plugins
-* extras: reformat plugins xml
-* extras: fix apm esc_telemetry
-* actually allocate memory for the telemetry information
-* fixed some compile errors
-* added esc_telemetry plugin
-* Add Mount angles message for communications with ardupilotmega.
-* Reset calibration flag when re-calibrating. Prevent wrong data output.
-* Delete debug files.
-* Apply uncrustify changes.
-* Set progress array to global to prevent erasing data.
-* Move Compass calibration report to extras. Rewrite code based on instructions.
-* Contributors: Abhijith Thottumadayil Jagadeesh, André Filipe, Dr.-Ing. Amilcar do Carmo Lucas, Karthik Desai, Ricardo Marques, Russell, Vladimir Ermakov
-
-1.8.0 (2021-05-05)
-------------------
-* extras: `#1370 <https://github.com/mavlink/mavros/issues/1370>`_: set obstacle aangle offset
-* extras: distance_sensor: rename param for custom orientation, apply uncrustify
-* distance_sensor: Add horizontal_fov_ratio, vertical_fov_ratio, sensor_orientation parameters
-* distance_sensor: Fill horizontal_fov, vertical_fov, quaternion
-* Contributors: Alexey Rogachevskiy, Vladimir Ermakov
-
-1.7.1 (2021-04-05)
-------------------
-
-1.7.0 (2021-04-05)
-------------------
-
-1.6.0 (2021-02-15)
-------------------
-* Fixed a bug in mavros_extras/src/plugins/odom.cpp by switching lines 175 and 180.
- Rationale: The pose covariance matrix published to the /mavros/odometry/in topic is exclusively zeros. This is because the transformation matrix r_pose is initialised as zeros (line 140), then applied to the covariance matrix cov_pose (line 176) and then populated (line 180). Clearly the latter two steps should be the other way around, and the comments in the code appear to suggest that this was the intention, but that lines 175 and 180 were accidentally written the wrong way around. Having switched them, the pose covariance is now published to /mavros/odometry/in as expected.
- JohnG897
-* Contributors: John Gifford
-
-1.5.2 (2021-02-02)
-------------------
-* bugfix - add estimator type in odom message
- Add missing estimator_type field in Odometry message.
- Issue `#1524 <https://github.com/mavlink/mavros/issues/1524>`_
-* Contributors: Ashwin Varghese Kuruttukulam
-
-1.5.1 (2021-01-04)
-------------------
-* Initialise message structures
- Uninitialised Mavlink 2 extension fields were sent if the fields were
- not later set. Initialising the fields to zero is the default value for
- extension fields and appears to the receiver as though sender is unaware
- of Mavlink 2.
- Instances were found with regex below, more may exist:
- mavlink::[^:]+::msg::[^:={]+ ?[^:={]*;
-* Contributors: Rob Clarke
-
-1.5.0 (2020-11-11)
-------------------
-* mavros_extras: Fix member initialization order
-* mavros_extras: Add override specifiers
-* mavros_extras: distance_sensor: Don't publish data when orientation configuration does not match incomming data.
-* fake_gps: Fix assignment typo
- This colon should probably be an equals sign.
- With the colon, this assignment becomes a label instead,
- and `_gps_rate` after the colon becomes an unused
- expression result.
-* Contributors: Kristian Klausen, Morten Fyhn Amundsen
-
-1.4.0 (2020-09-11)
-------------------
-* mavros: use mavlink::minimal:: after incompatible changes in mavlink package
- Incompatible change: https://github.com/mavlink/mavlink/pull/1463
- Fix: `#1483 <https://github.com/mavlink/mavros/issues/1483>`_, https://github.com/mavlink/mavlink/issues/1474
-* play_tune: Assign tune format directly
-* play_tune: Uncrustify
-* play_tune: Use msg_set_target and set_string_z
-* play_tune: Write new plugin
-* Contributors: Morten Fyhn Amundsen, Vladimir Ermakov