Merge branch 'master' into coverity_scan

* master: (56 commits) fix coverity, #101 Add package index readme, Fix #101 move exras to subdirectory, #101 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 ... Conflicts: mavros/CHANGELOG.rst Update coverity branch for #101.
mavlink · Aug 11, 2014 · daf8c6e · daf8c6e
2 parents 4277946 + 7a40047
commit daf8c6e
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diff --git a/.travis.yml b/.travis.yml
@@ -1,6 +1,8 @@
 # thanks to jsk-ros-pkg
 language: cpp
-compiler: gcc
+compiler:
+  - gcc
+#  - clang
 env:
   global:
     # The next declaration is the encrypted COVERITY_SCAN_TOKEN, created
@@ -56,6 +58,6 @@ addons:
       name: "vooon/mavros"
       description: "Build submitted via Travis CI"
     notification_email: vooon341@gmail.com
-    build_command_prepend: "cd ~/ros/ws_$REPOSITORY_NAME/src/mavros && cmake ."
+    build_command_prepend: "cd ~/ros/ws_$REPOSITORY_NAME/src/mavros/mavros && cmake ."
     build_command:   "make -j4"
     branch_pattern: coverity_scan
diff --git a/README.md b/README.md
@@ -1,149 +1,22 @@
 MAVROS
 ======
 
-MAVLink extendable communication node for ROS
-with proxy for Ground Control Station (e.g. [QGroundControl][1]).
+MAVLink extendable communication node for ROS.
 
-ROS API documentation moved to [wiki.ros.org][9].
+Since 2014-08-11 this repository contains several packages.
 
 
-Feutures
---------
-
-  - Communication with autopilot via serial port, UDP or TCP (e.g. [ArduPilot][2])
-  - Internal proxy for Ground Control Station (serial, UDP, TCP)
-  - [mavlink\_ros][3] compatible ROS topics (Mavlink.msg)
-  - Plugin system for ROS-MAVLink translation
-  - Parameter manipulation tool
-  - Waypoint manipulation tool
-
-
-Limitations
------------
-
-Only for linux. Depends on [Boost library][4] >= 1.46 (hydro on 12.04).
-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).
-
-
-Connection URL
+mavros package
 --------------
 
-*New in 0.7.0*. Connection now defined by URL,
-you can use any supported type for FCU and GCS.
-
-Supported schemas:
-
-  - Serial: `/path/to/serial/device[:baudrate]`
-  - Serial: `serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]`
-  - UDP: `udp://[bind_host[:port]]@[remote_host[:port]][/?ids=sysid,compid]`
-  - TCP client: `tcp://[server_host][:port][/?ids=sysid,compid]`
-  - TCP server: `tcp-l://[bind_port][:port][/?ids=sysid,compid]`
-
-Note: ids from URL overrides ids given by parameters.
-
-
-Programs
---------
-
-### mavros\_node -- main communication node
-
-Main node. Allow disable GCS proxy by setting empty URL.
-
-Run example:
-
-    rosrun mavros mavros_node _fcu_url:=/dev/ttyACM0:115200 _gcs_url:=tcp-l://
-
-
-### gcs\_bridge -- additional UDP proxy
-
-Allows you to add a channel for GCS.
-For example if you need to connect one GCS for HIL and the second on the tablet.
-
-Previous name: `ros_udp`.
-
-Example (HIL & DroidPlanner):
-
-    rosrun mavros mavros_node _gcs_url:='udp://:14556@hil-host:14551' &
-    rosrun mavros gcs_bridge _gcs_url:='udp://@nexus7'
-
-
-### mavparam -- parameter manipulation
-
-Just see `--help`.
-
-Examples:
-
-    rosrun mavros mavparam dump /tmp/apm.param
-    rosrun mavros mavparam load /tmp/apm2.param
-
-
-### mavwp -- mission manipulation
-
-See `--help`.
-
-Examples:
-
-    rosrun mavros mavwp show -p
-    rosrun mavros dump /tmp/mission.txt
-
-
-### mavsafety -- safety tool
-
-See `--help`.
-
-Examples:
-
-    rosrun mavros mavsafety arm
-    rosrun mavros mavsafety disarm
-
-
-Installation
-------------
-
-Use `wstool` utility for installation. In your workspace do:
-
-    wstool set -t src mavros --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 build 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_generator 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 can add `sudo -s` to last command.
-Or you could build debian package by pulling right bloom branch from [mavlink-gbp-release][7]
-(common naming: `debian/<rosdistro>/<osdistro>/<package>`) using `dh binary`.
+It is main package, please see their [README][mrrm].
 
 
-Links
------
+mavros\_extras package
+----------------------
 
-  - [MAVLink][5] -- communication protocol
-  - [mavlink\_ros][3] -- original ROS node (few messages, no proxy)
-  - [ArduPilot][2] -- tested autopilot APM:Plane (default command set)
-  - [QGroundControl][1] -- tested ground control station for linux
-  - [DroidPlanner][6] -- tested GCS for Android
+This package contain some extra nodes and plugins for mavros, please see their [README][exrm].
 
 
-[1]: http://qgroundcontrol.org/
-[2]: http://ardupilot.com/
-[3]: https://github.com/mavlink/mavlink_ros
-[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
+[mrrm]: https://github.com/vooon/mavros/blob/master/mavros/README.md
+[exrm]: https://github.com/vooon/mavros/blob/master/mavros_extras/README.md
diff --git a/TODO.md b/TODO.md
diff --git a/launch/px4_blacklist.yaml b/launch/px4_blacklist.yaml
diff --git a/CHANGELOG.rst → mavros/CHANGELOG.rst b/CHANGELOG.rst → mavros/CHANGELOG.rst
@@ -4,6 +4,30 @@ Changelog for package mavros
 
 Forthcoming
 -----------
+* Merge branch 'master' of github.com:vooon/mavros
+  * 'master' of github.com:vooon/mavros:
+  Add link to ros-*-mavlink package wiki page.
+* plugins: setpoint: Update setpoint message name.
+  Issue `#94 <https://github.com/vooon/mavros/issues/94>`_, Fix `#97 <https://github.com/vooon/mavros/issues/97>`_.
+* plugin: setpoint_attitude: Update message name.
+  Issues `#94 <https://github.com/vooon/mavros/issues/94>`_, `#97 <https://github.com/vooon/mavros/issues/97>`_.
+* Add link to ros-*-mavlink package wiki page.
+* plugin: gps: Fix gcc 4.6 build (atomic).
+  Not recommended to use std::atomic with gcc 4.6.
+  So i limited to prederined atomics for simple types like int, float etc.
+* plugin: sys_status: Implement PX4 mode decoding.
+  Fix `#84 <https://github.com/vooon/mavros/issues/84>`_.
+* plugin: gps: Add EPH & EPV to diagnostic.
+  Issue `#95 <https://github.com/vooon/mavros/issues/95>`_
+* plugin: gps: Move message processing to individual handlers.
+  Issue `#95 <https://github.com/vooon/mavros/issues/95>`_.
+* plugin: rc_io: Replace override service with topic. (ROS API change).
+  Fix `#93 <https://github.com/vooon/mavros/issues/93>`_.
+* Add dialect selection notes
+* plugins: Change severity for param & wp done messages.
+* plugins: Store raw autopilot & mav type values.
+  This may fix or not issue `#89 <https://github.com/vooon/mavros/issues/89>`_.
+* plugins: init ctor (coverity)
 * plugin: imu_pub: Add ATTITUDE_QUATERNION support.
   Also reduce copy-paste and use mode readable bitmask check.
   Fix `#85 <https://github.com/vooon/mavros/issues/85>`_.

diff --git a/CMakeLists.txt → mavros/CMakeLists.txt b/CMakeLists.txt → mavros/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)
+find_package(Boost REQUIRED COMPONENTS system)
 find_package(mavlink REQUIRED)
 
 ## Uncomment this if the package has a setup.py. This macro ensures
@@ -62,6 +62,7 @@ add_message_files(
   RCIn.msg
   RCOut.msg
   RadioStatus.msg
+  OverrideRCIn.msg
 )
 
 ## Generate services in the 'srv' folder
@@ -76,11 +77,11 @@ add_service_files(
    WaypointPull.srv
    WaypointPush.srv
    WaypointGOTO.srv
-   OverrideRCIn.srv
    CommandLong.srv
    CommandBool.srv
    CommandMode.srv
    CommandHome.srv
+   CommandTOL.srv
    StreamRate.srv
 )
 
@@ -192,6 +193,7 @@ add_library(mavros_plugins
   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
@@ -244,6 +246,7 @@ install(PROGRAMS
   scripts/mavparam
   scripts/mavwp
   scripts/mavsafety
+  scripts/mavcmd
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )