Remove mavlink submodule and move it to package dependency

Bloom release tool don't support git submodules, so i've ceate a package as described in http://wiki.ros.org/bloom/Tutorials/ReleaseThirdParty . Fix #35.
mavlink · Jun 18, 2014 · 834fa4c · 834fa4c
1 parent 30d14a6
commit 834fa4c
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Showing 6 changed files with 30 additions and 101 deletions.
diff --git a/.gitmodules b/.gitmodules
@@ -1,3 +0,0 @@
-[submodule "mavlink"]
-	path = mavlink
-	url = https://github.com/mavlink/mavlink.git

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -19,7 +19,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 find_package(Boost REQUIRED COMPONENTS system thread date_time)
-
+find_package(mavlink REQUIRED)
 
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
@@ -97,8 +97,9 @@ generate_messages(
   std_msgs
 )
 
-## Generate MAVLink headers
-include(${CMAKE_CURRENT_SOURCE_DIR}/mavlink.cmake)
+## Select MAVLink dialect
+#
+# TODO: move dialect list to mavlink package
 
 set(MAVLINK_DIALECT "ardupilotmega" CACHE STRING "MAVLink dialect selector")
 set_property(CACHE MAVLINK_DIALECT PROPERTY STRINGS
@@ -114,21 +115,6 @@ set_property(CACHE MAVLINK_DIALECT PROPERTY STRINGS
   "sensesoar"
 )
 
-set(MAVLINK_DEF
-  ardupilotmega.xml
-  autoquad.xml
-  common.xml
-  matrixpilot.xml
-  minimal.xml
-  pixhawk.xml
-  slugs.xml
-  test.xml
-  ualberta.xml
-  sensesoar.xml
-)
-
-generate_mavlink("1.0" "${MAVLINK_DEF}")
-
 
 ###################################
 ## catkin specific configuration ##
@@ -143,7 +129,7 @@ catkin_package(
   INCLUDE_DIRS include
   LIBRARIES mavconn mavros_plugins
   CATKIN_DEPENDS diagnostic_msgs diagnostic_updater pluginlib roscpp sensor_msgs std_msgs tf geometry_msgs
-  DEPENDS Boost
+  DEPENDS Boost mavlink
 )
 
 ###########
@@ -159,6 +145,7 @@ include_directories(
   src/mavconn
   ${catkin_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIRS}
+  ${mavlink_INCLUDE_DIRS}
 )
 
 add_definitions(

diff --git a/README.md b/README.md
@@ -4,6 +4,8 @@ MAVROS
 MAVLink extendable communication node for ROS
 with UDP proxy for Ground Control Station (e.g. [QGroundControl][1]).
 
+ROS API documentation moved to [wiki.ros.org][9].
+
 
 Feutures
 --------
@@ -22,61 +24,9 @@ Limitations
 Only for linux. Depends on [Boost library][4] >= 1.49.
 Catkin build system required (tested with ROS Hydro Medusa and Indigo Igloo).
 
+This package are dependent on ros-\*-mavlink build from [mavlink-gbp-release][7].
+Since 2014-06-19 it exists in hydro and indigo package index (so you can install via rosdep).
 
-Parameters
-----------
-
-General node parametars:
-
-  * ~/serial\_port -- FCU serial device (default: /dev/ttyACM0)
-  * ~/serial\_baud -- serial baud rate (default: 57600)
-  * ~/bind\_host -- UDP proxy listen host (default: 0.0.0.0)
-  * ~/bind\_port -- UDP proxy port (default: 14555)
-  * ~/gcs\_host -- GCS host
-  * ~/gcs\_port -- GCS UDP port (default: 14550)
-  * ~/system\_id -- Node MAVLink System ID (default: 1)
-  * ~/component\_id -- Node MAVLink Component ID (default: 240 == UDP\_BRIDGE)
-  * ~/target\_system\_id -- FCU System ID (default: 1)
-  * ~/target\_component\_id -- FCU Component ID (default: 1)
-  * ~/startup\_px4\_usb\_quirk -- autostart mavlink via USB on PX4
-
-Plugins parameters:
-
-  * ~conn\_timeout -- FCU connection timeout \[sec\] (default: 30.0)
-  * ~gps/frame\_id -- GPS Header.frame\_id (default: 'gps')
-  * ~gps/time\_ref\_source -- TimeRefrence Header frame\_id (default: 'gps')
-  * ~imu/frame\_id -- IMU Header.frame\_id (default: 'fcu')
-  * ~imu/linear\_acceleration\_stdev -- accel's standard deviation (default: 0.0003)
-  * ~imu/angular\_velocity\_stdev -- gyro's standard deviation \[rad\] (default: 0.02°)
-  * ~imu/orientation\_stdev -- deviation for IMU.orientation (default: 1.0)
-  * ~param/\* -- FCU parameters mapped by ParamPlugin
-  * ~mission/pull\_after\_gcs -- automatically pull waypoints if GCS pulls (default: off)
-
-
-Servicies
----------
-
-ParamPlugin:
-
-  * ~param/pull -- Pulls FCU params to rosparam
-  * ~param/push -- Push rosparam to FCU
-  * ~param/get -- Get one FCU parameter
-  * ~param/set -- Set one FCU parameter and update rosparam with actual value
-
-WaypointPlugin:
-
-  * ~mission/pull -- Pulls FCU waypoints and publish
-  * ~mission/push -- Push new waypoint list to FCU
-  * ~mission/clear -- Clear waypoint list
-  * ~mission/set\_current -- Set current active waypoint (in list)
-  * ~mission/goto -- send one waypoint (only APM)
-
-CommandPlugin:
-
-  * ~cmd/command -- Send any COMMAND\_LONG (all FCU)
-  * ~cmd/arming -- Arm/Disarm command
-  * ~cmd/set\_mode -- Set FCU operation mode
-  * ~cmd/set\_home -- Set home position (if supported)
 
 Programs
 --------
@@ -128,8 +78,23 @@ Use `wstool` utility for installation. In your workspace do:
 
     wstool set -t src --git https://github.com/vooon/mavros.git
     wstool update -t src
+    rosdep install --from-paths src --ignore-src --rosdistro hydro -y
 
 Then use regular `catkin_make` for biuld and install.
+Notes: since v0.5 (and [#35][8]) mavlink submodule moved to special ROS 3rd party package [ros-\*-mavlink][7].
+
+### Installing ros-\*-mavlink from source
+
+If rosdep could'not install mavlink library, you could install it from source:
+
+    mkdir -p ~/ros_deps/src
+    cd ~/ros_deps
+    rosinstall_generate mavlink | tee rosinstall.yaml
+    wstool init src ./rosinstall.yaml
+    catkin_make_isolated --install-space $ROSINSTALL --install -DCMAKE_BUILD_TYPE=Release
+
+$ROSINSTALL must be writable for user.
+Or you could build debian package by pulling right bloom branch from [mavlink-gbp-release][7].
 
 
 Testing
@@ -156,3 +121,6 @@ Links
 [4]: http://www.boost.org/
 [5]: http://mavlink.org/mavlink/start
 [6]: https://github.com/arthurbenemann/droidplanner/
+[7]: https://github.com/vooon/mavlink-gbp-release
+[8]: https://github.com/vooon/mavros/issues/35
+[9]: http://wiki.ros.org/mavros
diff --git a/mavlink b/mavlink
diff --git a/mavlink.cmake b/mavlink.cmake
diff --git a/package.xml b/package.xml
@@ -30,6 +30,7 @@
   <build_depend>sensor_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>tf</build_depend>
+  <build_depend>mavlink</build_depend>
   <run_depend>boost</run_depend>
   <run_depend>diagnostic_msgs</run_depend>
   <run_depend>diagnostic_updater</run_depend>
@@ -41,6 +42,7 @@
   <run_depend>sensor_msgs</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>tf</run_depend>
+  <run_depend>mavlink</run_depend>
   <test_depend>gtest</test_depend>
 
   <export>