Merge branch 'PX4:main' into master

SaxionMechatronics · Jun 5, 2024 · 1184828 · 1184828
2 parents 9ea762c + 383a68e
commit 1184828
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Showing 10 changed files with 172 additions and 175 deletions.
diff --git a/.github/workflows/build_test_macos.yml b/.github/workflows/build_test_macos.yml
@@ -13,7 +13,7 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [macos-11.0]
+        os: [macos-13]
     steps:
     - uses: actions/checkout@v1
     - name: submodule update

diff --git a/include/gazebo_aruco_plugin.h b/include/gazebo_aruco_plugin.h
@@ -38,8 +38,15 @@
 #include "TargetRelative.pb.h"
 
 #include <opencv2/opencv.hpp>
+
 #include <opencv2/aruco.hpp>
+// Check for OpenCV version 4.7 or later
+#if CV_VERSION_MAJOR >= 4 && CV_VERSION_MINOR >= 7
+#include <opencv2/objdetect/aruco_dictionary.hpp>
+#else
 #include <opencv2/aruco/dictionary.hpp>
+#endif
+
 #include <opencv2/core.hpp>
 
 #include <vector>

diff --git a/include/gazebo_camera_manager_plugin.h b/include/gazebo_camera_manager_plugin.h
@@ -31,6 +31,7 @@
 #include <gazebo/rendering/rendering.hh>
 #include <SITLGps.pb.h>
 #include <ignition/math.hh>
+#include <chrono>
 
 namespace gazebo
 {
@@ -61,6 +62,8 @@ class GAZEBO_VISIBLE CameraManagerPlugin : public SensorPlugin
     void _handle_storage_info(const mavlink_message_t *pMsg, struct sockaddr* srcaddr);
     void _handle_take_photo(const mavlink_message_t *pMsg, struct sockaddr* srcaddr);
     void _handle_stop_take_photo(const mavlink_message_t *pMsg, struct sockaddr* srcaddr);
+    void _handle_start_video_capture(const mavlink_message_t *pMsg, struct sockaddr* srcaddr);
+    void _handle_stop_video_capture(const mavlink_message_t *pMsg, struct sockaddr* srcaddr);
     void _handle_request_camera_settings(const mavlink_message_t *pMsg, struct sockaddr* srcaddr);
     void _handle_request_video_stream_information(const mavlink_message_t *pMsg, struct sockaddr* srcaddr);
     void _handle_request_video_stream_status(const mavlink_message_t *pMsg, struct sockaddr* srcaddr);
@@ -90,7 +93,8 @@ class GAZEBO_VISIBLE CameraManagerPlugin : public SensorPlugin
     enum {
         CAPTURE_DISABLED,
         CAPTURE_SINGLE,
-        CAPTURE_ELAPSED
+        CAPTURE_ELAPSED,
+        CAPTURE_VIDEO
     };
 
     int         _captureMode{CAPTURE_DISABLED};
@@ -117,6 +121,8 @@ class GAZEBO_VISIBLE CameraManagerPlugin : public SensorPlugin
     int                         _systemID{1};
     int                         _componentID{MAV_COMP_ID_CAMERA};
     int                         _mavlinkCamPort{14530};
+
+    std::chrono::time_point<std::chrono::high_resolution_clock> _start_video_capture_time;
 };
 
 } /* namespace gazebo */
diff --git a/models/tailsitter/meshes/propeller_ccw.dae b/models/tailsitter/meshes/propeller_ccw.dae
diff --git a/models/tailsitter/meshes/propeller_cw.dae b/models/tailsitter/meshes/propeller_cw.dae