Imported upstream version '1.20.0' of 'upstream'

dependencies.rosinstall

@@ -1,4 +1,4 @@
 - git:
     local-name: mavlink
     uri: https://github.com/mavlink/mavlink-gbp-release.git
-    version: release/kinetic/mavlink
+    version: release/noetic/mavlink

libmavconn/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package libmavconn
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.20.0 (2024-10-10)
+-------------------
+
 1.19.0 (2024-06-06)
 -------------------
 

libmavconn/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>libmavconn</name>
-  <version>1.19.0</version>
+  <version>1.20.0</version>
   <description>
     MAVLink communication library.
     This library provide unified connection handling classes

mavros/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package mavros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.20.0 (2024-10-10)
+-------------------
+* add param to odom plugin
+* add frame_id parameter
+* Contributors: EnderMandS
+
 1.19.0 (2024-06-06)
 -------------------
 * gps_global_origin: remove LLA to ECEF conversion

mavros/include/mavros/mavros_uas.h

@@ -444,6 +444,26 @@ class UAS {
 	 */
 	bool cmode_from_str(std::string cmode_str, uint32_t &custom_mode);
 
+	inline void set_base_link_frame_id(const std::string frame_id) {
+		base_link_frame_id = frame_id;
+	}
+	inline void set_odom_frame_id(const std::string frame_id) {
+		odom_frame_id = frame_id;
+	}
+	inline void set_map_frame_id(const std::string frame_id) {
+		map_frame_id = frame_id;
+	}
+	inline std::string get_base_link_frame_id() {
+		return base_link_frame_id;
+	}
+	inline std::string get_odom_frame_id() {
+		return odom_frame_id;
+	}
+	inline std::string get_map_frame_id() {
+		return map_frame_id;
+	}
+	void setup_static_tf();
+
 private:
 	std::recursive_mutex mutex;
 
@@ -472,5 +492,7 @@ class UAS {
 
 	std::atomic<bool> fcu_caps_known;
 	std::atomic<uint64_t> fcu_capabilities;
+
+	std::string base_link_frame_id, odom_frame_id, map_frame_id;
 };
 }	// namespace mavros

mavros/launch/px4_config.yaml

@@ -231,8 +231,9 @@ mount:
 # odom
 odometry:
   fcu:
-    odom_parent_id_des: "map"    # desired parent frame rotation of the FCU's odometry
+    odom_parent_id_des: "odom"        # desired parent frame rotation of the FCU's odometry
     odom_child_id_des: "base_link"    # desired child frame rotation of the FCU's odometry
+    map_id_des: "map"
 
 # px4flow
 px4flow:

mavros/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mavros</name>
-  <version>1.19.0</version>
+  <version>1.20.0</version>
   <description>
     MAVROS -- MAVLink extendable communication node for ROS
     with proxy for Ground Control Station.

mavros/src/lib/mavros.cpp

@@ -64,6 +64,19 @@ MavRos::MavRos() :
 	nh.getParam("plugin_blacklist", plugin_blacklist);
 	nh.getParam("plugin_whitelist", plugin_whitelist);
 
+	// Get frame_id
+	std::string base_link_frame_id, odom_frame_id, map_frame_id;
+	if (nh.param<std::string>("base_link_frame_id", base_link_frame_id, "base_link"))
+		ROS_INFO("Find param base_link_frame_id: %s", base_link_frame_id.c_str());
+	if (nh.param<std::string>("odom_frame_id", odom_frame_id, "odom"))
+		ROS_INFO("Find param odom_frame_id: %s", odom_frame_id.c_str());
+	if (nh.param<std::string>("map_frame_id", map_frame_id, "map"))
+		ROS_INFO("Find param map_frame_id: %s", map_frame_id.c_str());
+	mav_uas.set_base_link_frame_id(base_link_frame_id);
+	mav_uas.set_odom_frame_id(odom_frame_id);
+	mav_uas.set_map_frame_id(map_frame_id);
+	mav_uas.setup_static_tf();
+
 	conn_timeout = ros::Duration(conn_timeout_d);
 
 	// Now we use FCU URL as a hardware Id

mavros/src/lib/uas_data.cpp

@@ -36,7 +36,10 @@ UAS::UAS() :
 	time_offset(0),
 	tsync_mode(UAS::timesync_mode::NONE),
 	fcu_caps_known(false),
-	fcu_capabilities(0)
+	fcu_capabilities(0),
+	base_link_frame_id("base_link"),
+	odom_frame_id("odom"),
+	map_frame_id("map")
 {
 	try {
 		// Using smallest dataset with 5' grid,
@@ -50,14 +53,6 @@ UAS::UAS() :
 				" | Run install_geographiclib_dataset.sh script in order to install Geoid Model dataset!");
 		ros::shutdown();
 	}
-
-	// Publish helper TFs used for frame transformation in the odometry plugin
-	std::vector<geometry_msgs::TransformStamped> transform_vector;
-	add_static_transform("map", "map_ned", Eigen::Affine3d(ftf::quaternion_from_rpy(M_PI, 0, M_PI_2)),transform_vector);
-	add_static_transform("odom", "odom_ned", Eigen::Affine3d(ftf::quaternion_from_rpy(M_PI, 0, M_PI_2)),transform_vector);
-	add_static_transform("base_link", "base_link_frd", Eigen::Affine3d(ftf::quaternion_from_rpy(M_PI, 0, 0)),transform_vector);
-
-	tf2_static_broadcaster.sendTransform(transform_vector);
 }
 
 /* -*- heartbeat handlers -*- */
@@ -275,3 +270,13 @@ void UAS::publish_static_transform(const std::string &frame_id, const std::strin
 
 	tf2_static_broadcaster.sendTransform(static_transformStamped);
 }
+
+//! Publish helper TFs used for frame transformation in the odometry plugin
+void UAS::setup_static_tf()
+{
+	std::vector<geometry_msgs::TransformStamped> transform_vector;
+	add_static_transform(map_frame_id, map_frame_id+"_ned", Eigen::Affine3d(ftf::quaternion_from_rpy(M_PI, 0, M_PI_2)),transform_vector);
+	add_static_transform(odom_frame_id, odom_frame_id+"_ned", Eigen::Affine3d(ftf::quaternion_from_rpy(M_PI, 0, M_PI_2)),transform_vector);
+	add_static_transform(base_link_frame_id, base_link_frame_id+"_frd", Eigen::Affine3d(ftf::quaternion_from_rpy(M_PI, 0, 0)),transform_vector);
+	tf2_static_broadcaster.sendTransform(transform_vector);
+}

mavros_extras/CHANGELOG.rst

@@ -2,6 +2,16 @@
 Changelog for package mavros_extras
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.20.0 (2024-10-10)
+-------------------
+* Add missing std_srvs dependency
+* add param to odom plugin
+* add frame_id parameter
+* Fix compile error when compiling with gcc 13
+  The error is:
+  src/plugins/mag_calibration_status.cpp:64:22: error: ‘bitset’ is not a member of ‘std’
+* Contributors: EnderMandS, Michal Sojka, Roland Arsenault
+
 1.19.0 (2024-06-06)
 -------------------
 

mavros_extras/CMakeLists.txt

@@ -11,6 +11,7 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   sensor_msgs
   std_msgs
+  std_srvs
   tf
   tf2_eigen
   urdf

mavros_extras/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mavros_extras</name>
-  <version>1.19.0</version>
+  <version>1.20.0</version>
   <description>
     Extra nodes and plugins for <a href="http://wiki.ros.org/mavros">MAVROS</a>.
   </description>
@@ -26,6 +26,7 @@
   <depend>mavros_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
+  <depend>std_srvs</depend>
   <depend>visualization_msgs</depend>
   <depend>urdf</depend>
   <depend>tf</depend>

mavros_extras/src/plugins/mag_calibration_status.cpp

@@ -11,6 +11,8 @@
 #include <mavros/mavros_plugin.h>
 #include <std_msgs/UInt8.h>
 #include <mavros_msgs/MagnetometerReporter.h>
+#include <bitset>
+
 namespace mavros {
 namespace std_plugins {
 /**

mavros_extras/src/plugins/odom.cpp

@@ -47,7 +47,8 @@ class OdometryPlugin : public plugin::PluginBase {
 
 	OdometryPlugin() : PluginBase(),
 		odom_nh("~odometry"),
-		fcu_odom_parent_id_des("map"),
+		fcu_map_id_des("map"),
+		fcu_odom_parent_id_des("odom"),
 		fcu_odom_child_id_des("base_link")
 	{ }
 
@@ -56,8 +57,9 @@ class OdometryPlugin : public plugin::PluginBase {
 		PluginBase::initialize(uas_);
 
 		// frame params:
-		odom_nh.param<std::string>("fcu/odom_parent_id_des", fcu_odom_parent_id_des, "map");
-		odom_nh.param<std::string>("fcu/odom_child_id_des", fcu_odom_child_id_des, "base_link");
+		odom_nh.param<std::string>("fcu/odom_parent_id_des", fcu_odom_parent_id_des, uas_.get_odom_frame_id());
+		odom_nh.param<std::string>("fcu/odom_child_id_des", fcu_odom_child_id_des, uas_.get_base_link_frame_id());
+		odom_nh.param<std::string>("fcu/map_id_des", fcu_map_id_des, uas_.get_map_frame_id());
 
 		// publishers
 		odom_pub = odom_nh.advertise<nav_msgs::Odometry>("in", 10);
@@ -80,6 +82,7 @@ class OdometryPlugin : public plugin::PluginBase {
 
 	std::string fcu_odom_parent_id_des;			//!< desired orientation of the fcu odometry message's parent frame
 	std::string fcu_odom_child_id_des;			//!< desired orientation of the fcu odometry message's child frame
+	std::string fcu_map_id_des;					//!< desired orientation of the fcu map frame
 
 	/**
 	 * @brief Lookup static transform with error handling
@@ -122,8 +125,8 @@ class OdometryPlugin : public plugin::PluginBase {
 		Eigen::Affine3d tf_parent2parent_des;
 		Eigen::Affine3d tf_child2child_des;
 
-		lookup_static_transform(fcu_odom_parent_id_des, "map_ned", tf_parent2parent_des);
-		lookup_static_transform( fcu_odom_child_id_des, "base_link_frd", tf_child2child_des);
+		lookup_static_transform(fcu_map_id_des, fcu_map_id_des+"_ned", tf_parent2parent_des);
+		lookup_static_transform( fcu_odom_child_id_des, fcu_odom_child_id_des+"_frd", tf_child2child_des);
 
 		//! Build 6x6 pose covariance matrix to be transformed and sent
 		Matrix6d cov_pose = Matrix6d::Zero();
@@ -142,7 +145,7 @@ class OdometryPlugin : public plugin::PluginBase {
 
 		auto odom = boost::make_shared<nav_msgs::Odometry>();
 
-		odom->header = m_uas->synchronized_header(fcu_odom_parent_id_des, odom_msg.time_usec);
+		odom->header = m_uas->synchronized_header(fcu_map_id_des, odom_msg.time_usec);
 		odom->child_frame_id = fcu_odom_child_id_des;
 
 		/**
@@ -203,8 +206,8 @@ class OdometryPlugin : public plugin::PluginBase {
 		Eigen::Affine3d tf_parent2parent_des;
 		Eigen::Affine3d tf_child2child_des;
 
-		lookup_static_transform("odom_ned", odom->header.frame_id, tf_parent2parent_des);
-		lookup_static_transform("base_link_frd", odom->child_frame_id, tf_child2child_des);
+		lookup_static_transform(fcu_odom_parent_id_des+"_ned", odom->header.frame_id, tf_parent2parent_des);
+		lookup_static_transform(fcu_odom_child_id_des+"_frd", odom->child_frame_id, tf_child2child_des);
 
 		//! Build 6x6 pose covariance matrix to be transformed and sent
 		ftf::Covariance6d cov_pose = odom->pose.covariance;

mavros_extras/src/plugins/wheel_odometry.cpp

@@ -69,14 +69,14 @@ class WheelOdometryPlugin : public plugin::PluginBase {
 
 		// Odometry params
 		wo_nh.param("send_twist", twist_send, false);
-		wo_nh.param<std::string>("frame_id", frame_id, "odom");
-		wo_nh.param<std::string>("child_frame_id", child_frame_id, "base_link");
+		wo_nh.param<std::string>("frame_id", frame_id, uas_.get_odom_frame_id());
+		wo_nh.param<std::string>("child_frame_id", child_frame_id, uas_.get_base_link_frame_id());
 		wo_nh.param("vel_error", vel_cov, 0.1);
 		vel_cov = vel_cov * vel_cov;	// std -> cov
 		// TF subsection
 		wo_nh.param("tf/send", tf_send, false);
-		wo_nh.param<std::string>("tf/frame_id", tf_frame_id, "odom");
-		wo_nh.param<std::string>("tf/child_frame_id", tf_child_frame_id, "base_link");
+		wo_nh.param<std::string>("tf/frame_id", tf_frame_id, uas_.get_odom_frame_id());
+		wo_nh.param<std::string>("tf/child_frame_id", tf_child_frame_id, uas_.get_base_link_frame_id());
 
 		// Read parameters for each wheel.
 		{

mavros_msgs/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package mavros_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.20.0 (2024-10-10)
+-------------------
+
 1.19.0 (2024-06-06)
 -------------------
 

mavros_msgs/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mavros_msgs</name>
-  <version>1.19.0</version>
+  <version>1.20.0</version>
   <description>
     mavros_msgs defines messages for <a href="http://wiki.ros.org/mavros">MAVROS</a>.
   </description>

test_mavros/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package test_mavros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.20.0 (2024-10-10)
+-------------------
+
 1.19.0 (2024-06-06)
 -------------------
 

test_mavros/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>test_mavros</name>
-  <version>1.19.0</version>
+  <version>1.20.0</version>
   <description>Tests for MAVROS package</description>
 
   <maintainer email="[email protected]">Vladimir Ermakov</maintainer>