Merge remote-tracking branch 'mavros/master'

* mavros/master: (275 commits)
  move mavros to subdirectory, #101
  save changes before moving, #101
  plugins: setpoint: Update setpoint message name.
  plugin: setpoint_attitude: Update message name.
  Add link to ros-*-mavlink package wiki page.
  plugin: gps: Fix gcc 4.6 build (atomic).
  plugin: sys_status: Implement PX4 mode decoding.
  plugin: gps: Add EPH & EPV to diagnostic.
  plugin: gps: Move message processing to individual handlers.
  plugin: rc_io: Replace override service with topic. (ROS API change).
  Add dialect selection notes
  plugins: Change severity for param & wp done messages.
  plugins: Store raw autopilot & mav type values.
  plugins: init ctor (coverity)
  plugin: imu_pub: Add ATTITUDE_QUATERNION support.
  scriptis: mavcmd: Spelling
  scripits: Add mavcmd tool
  Add links to mavros_extras
  param: sys_status: Option to disable diagnostics (except heartbeat)
  plugin: command: Add takeoff and land aliases.
  ...

.travis.yml

@@ -0,0 +1,63 @@
+# thanks to jsk-ros-pkg
+language: cpp
+compiler:
+  - gcc
+#  - clang
+env:
+  global:
+    # The next declaration is the encrypted COVERITY_SCAN_TOKEN, created
+    #   via the "travis encrypt" command using the project repo's public key
+    - secure: "ORA0MsiEB+R3pk8qKFRllVDK7eEQGo0LoRy6VtdyU0SOw00lEWCSD8FFJM922H5e18ZME9fIfc0ttKvbEhRwPx/AUCME+0lLkcHmogc7UyB8Gu6yqXfcp0XLVKPeLK/9+9geFmb5v9P0CH3cX4PYzimzt1ay0BVfomXX4+NkipE="
+    - ROS_DISTRO=hydro
+before_install:
+  - export CI_SOURCE_PATH=$(pwd)
+  - export REPOSITORY_NAME=${PWD##*/}
+  - echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
+  - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
+  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+  - sudo apt-get update -qq
+  - sudo apt-get install -qq -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin ros-$ROS_DISTRO-ros python-rosinstall
+  # MongoDB hack - I don't fully understand this but its for moveit_warehouse
+  - sudo apt-get remove -y mongodb mongodb-10gen
+  - sudo apt-get install -y mongodb-clients mongodb-server -o Dpkg::Options::="--force-confdef" # default actions
+  ##### quick hack for missing python-tk on hrpsys/waitInput.py
+  - sudo apt-get install -qq -y python-tk
+  # Setup rosdep
+  - sudo rosdep init
+  - rosdep update
+install:
+  # Create workspace
+  - mkdir -p ~/ros/ws_$REPOSITORY_NAME/src
+  - cd ~/ros/ws_$REPOSITORY_NAME/src
+  - wstool init .
+  - wstool set $REPOSITORY_NAME --git https://github.com/vooon/mavros.git -y
+  - wstool update -j10
+  #- ln -s $CI_SOURCE_PATH . # Link the repo we are testing to the new workspace
+  - cd ../
+  # Install dependencies for source repos
+  - find -L src -name package.xml -exec dirname {} \; | xargs -n 1 -i find {} -name manifest.xml | xargs -n 1 -i mv {} {}.deprecated
+  - rosdep install -r -n --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
+  - find -L src -name manifest.xml.deprecated | xargs -n 1 -i dirname {} | xargs -n 1 -i ln -sf `pwd`/{}/manifest.xml.deprecated `pwd`/{}/manifest.xml
+before_script: # Use this to prepare your build for testing e.g. copy database configurations, environment variables, etc.
+  - source /opt/ros/$ROS_DISTRO/setup.bash
+  - export CATKIN_PACKAGES="`find $CI_SOURCE_PATH -name package.xml | xargs -n 1 dirname | xargs -n 1 basename`"
+script: # All commands must exit with code 0 on success. Anything else is considered failure.
+  - cd ~/ros/ws_$REPOSITORY_NAME
+  - rospack profile
+  - catkin_make -j4
+#  - if [ "$CATKIN_PACKAGES" != "" ]; then catkin_make test --pkg $CATKIN_PACKAGES; fi
+  - catkin_make install
+  - rm -fr devel src build; source install/setup.bash
+after_failure:
+  - if [ -e ./build/Testing/Temporary/LastTest.log ]; then cat ./build/Testing/Temporary/LastTest.log; fi
+  - find ${HOME}/.ros/test_results -type f -exec echo "== {} ==" \; -exec cat {} \;
+  - for file in ${HOME}/.ros/log/rostest-*; do echo "=== $file ==="; cat $file; done
+addons:
+  coverity_scan:
+    project:
+      name: "vooon/mavros"
+      description: "Build submitted via Travis CI"
+    notification_email: vooon341@gmail.com
+    build_command_prepend: "cd ~/ros/ws_$REPOSITORY_NAME/src/mavros && cmake ."
+    build_command:   "make -j4"
+    branch_pattern: coverity_scan

mavros/CMakeLists.txt

@@ -0,0 +1,288 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(mavros)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  diagnostic_msgs
+  diagnostic_updater
+  message_generation
+  message_runtime
+  pluginlib
+  roscpp
+  sensor_msgs
+  std_msgs
+  tf
+  angles
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+find_package(Boost REQUIRED COMPONENTS system)
+find_package(mavlink REQUIRED)
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+add_message_files(
+  FILES
+  Mavlink.msg
+  Waypoint.msg
+  WaypointList.msg
+  BatteryStatus.msg
+  State.msg
+  RCIn.msg
+  RCOut.msg
+  RadioStatus.msg
+  OverrideRCIn.msg
+)
+
+## Generate services in the 'srv' folder
+add_service_files(
+   FILES
+   ParamSet.srv
+   ParamGet.srv
+   ParamPull.srv
+   ParamPush.srv
+   WaypointSetCurrent.srv
+   WaypointClear.srv
+   WaypointPull.srv
+   WaypointPush.srv
+   WaypointGOTO.srv
+   CommandLong.srv
+   CommandBool.srv
+   CommandMode.srv
+   CommandHome.srv
+   CommandTOL.srv
+   StreamRate.srv
+)
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  diagnostic_msgs
+  sensor_msgs
+  std_msgs
+)
+
+## Select MAVLink dialect
+#
+# fallback for older mavlink package.
+if(NOT DEFINED mavlink_DIALECTS)
+  list(APPEND mavlink_DIALECTS "ardupilotmega")
+  list(APPEND mavlink_DIALECTS "pixhawk")
+  list(APPEND mavlink_DIALECTS "common")
+endif()
+
+set(MAVLINK_DIALECT "ardupilotmega" CACHE STRING "MAVLink dialect selector")
+set_property(CACHE MAVLINK_DIALECT PROPERTY STRINGS ${mavlink_DIALECTS})
+
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+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 mavlink
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+# TODO: Check names of system library include directories (boost)
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
+  ${mavlink_INCLUDE_DIRS}
+)
+
+add_definitions(
+    -DMAVLINK_DIALECT=${MAVLINK_DIALECT}
+)
+
+## Enable C++11 on gcc 4.6 too
+# thanks for: http://www.guyrutenberg.com/2014/01/05/enabling-c11-c0x-in-cmake/
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(COMPILER_SUPPORTS_CXX11)
+	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+elseif(COMPILER_SUPPORTS_CXX0X)
+	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+else()
+        message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+endif()
+
+## Declare a cpp library
+add_library(mavconn
+   src/mavconn/mavconn_interface.cpp
+   src/mavconn/mavconn_serial.cpp
+   src/mavconn/mavconn_udp.cpp
+   src/mavconn/mavconn_tcp.cpp
+)
+add_dependencies(mavconn
+  mavros_generate_messages_cpp
+)
+target_link_libraries(mavconn
+  ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
+)
+
+add_library(mavros_plugins
+  src/plugins/dummy.cpp
+  src/plugins/sys_status.cpp
+  src/plugins/imu_pub.cpp
+  src/plugins/gps.cpp
+  src/plugins/param.cpp
+  src/plugins/waypoint.cpp
+  src/plugins/rc_io.cpp
+  src/plugins/command.cpp
+  src/plugins/local_position.cpp
+  src/plugins/vision_position.cpp
+  src/plugins/setpoint_position.cpp
+  src/plugins/safety_area.cpp
+  src/plugins/3dr_radio.cpp
+  src/plugins/setpoint_velocity.cpp
+  src/plugins/setpoint_accel.cpp
+  src/plugins/setpoint_attitude.cpp
+  src/plugins/vision_speed.cpp
+)
+add_dependencies(mavros_plugins
+  mavros_generate_messages_cpp
+  mavconn
+)
+target_link_libraries(mavros_plugins
+  mavconn
+  ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
+)
+
+
+## Declare a cpp executable
+add_executable(mavros_node
+	src/mavros_node.cpp
+	src/uas.cpp
+)
+add_dependencies(mavros_node
+  mavros_generate_messages_cpp
+  mavconn
+)
+target_link_libraries(mavros_node
+  mavconn
+  ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
+)
+
+add_executable(gcs_bridge
+	src/gcs_bridge.cpp
+)
+add_dependencies(gcs_bridge
+  mavconn
+)
+target_link_libraries(gcs_bridge
+  mavconn
+  ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+install(PROGRAMS
+  scripts/mavparam
+  scripts/mavwp
+  scripts/mavsafety
+  scripts/mavcmd
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark executables and/or libraries for installation
+install(TARGETS mavconn mavros_plugins mavros_node gcs_bridge
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+install(FILES
+  mavros_plugins.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
+
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+catkin_add_gtest(mavconn-test test/test_mavconn.cpp)
+if(TARGET mavconn-test)
+	target_link_libraries(mavconn-test mavconn)
+endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)