Merge pull request #148 from rosflight/rename_to_rosflight_io

Rename rosflight package to rosflight_io

.github/workflows/ros2-ci.yml

@@ -38,7 +38,7 @@ jobs:
       - uses: actions/checkout@v2
         with:
           submodules: recursive
-          path: 'ros2_ws/src/rosflight2'
+          path: 'ros2_ws/src/rosflight'
 
       - name: Install dependencies
         run: |

.gitmodules

@@ -1,6 +1,6 @@
-[submodule "rosflight/include/mavlink/v1.0"]
-	path = rosflight/include/rosflight/mavlink/v1.0
+[submodule "rosflight_io/include/rosflight_io/mavlink/v1.0"]
+	path = rosflight_io/include/rosflight_io/mavlink/v1.0
 	url = https://github.com/rosflight/mavlink_c_library.git
-[submodule "rosflight_firmware/firmware"]
-	path = rosflight_firmware/firmware
-	url = https://github.com/rosflight/firmware
+[submodule "rosflight_firmware/rosflight_firmware"]
+	path = rosflight_firmware/rosflight_firmware
+	url = https://github.com/rosflight/rosflight_firmware.git

README.md

@@ -1,13 +1,13 @@
-# ROSflight2
+# ROSflight
 
-[![ROS2 CI](https://github.com/rosflight/rosflight2/actions/workflows/ros2-ci.yml/badge.svg)](https://github.com/rosflight/rosflight2/actions/workflows/ros2-ci.yml)
+[![ROS2 CI](https://github.com/rosflight/rosflight/actions/workflows/ros2-ci.yml/badge.svg)](https://github.com/rosflight/rosflight/actions/workflows/ros2-ci.yml)
 
 This repository contains a ROS2 stack for interfacing with an autopilot running the ROSflight firmware.
 For more information on the ROSflight autopilot firmware stack, visit http://rosflight.org.
 
 # Packages Overview
 
-## rosflight
+## rosflight_io
 
 This package contains the rosflight_io node, which provides the core functionality for interfacing an onboard computer
 with the autopilot. This node streams autopilot sensor and status data to the onboard computer, streams control
@@ -91,9 +91,9 @@ The gazebo simulator with the sil_node can be launched alongside rosflight_io an
 ### Firmware parameter files
 
 Basic parameter files for setting up a multirotor or fixedwing UAV have been provided, under the
-`rosflight2/rosflight_utils/params` directory. Use 
-`ros2 service call /param_load_from_file rosflight_msgs/srv/ParamFile "{filename: "/path_to_rosflight2/rosflight_utils/params/fixedwing_firmware.yaml"}"` for fixedwings and 
-`ros2 service call /param_load_from_file rosflight_msgs/srv/ParamFile "{filename:"/path_to_rosflight2/rosflight_utils/params/multirotor_firmware.yaml"}"` for multirotors.
+`rosflight/rosflight_utils/params` directory. Use 
+`ros2 service call /param_load_from_file rosflight_msgs/srv/ParamFile "{filename: "/path_to_rosflight/rosflight_utils/params/fixedwing_firmware.yaml"}"` for fixedwings and 
+`ros2 service call /param_load_from_file rosflight_msgs/srv/ParamFile "{filename:"/path_to_rosflight/rosflight_utils/params/multirotor_firmware.yaml"}"` for multirotors.
 
 ### Firmware initialization launch files
 
@@ -115,8 +115,8 @@ files found in the `rosflight_utils/params` directory mentioned above.
    with `echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc`. Re-open your terminal so that this echo command can
    take effect.
 4. Create a rosflight workspace folder and cd into it with `mkdir rosflight_ws && cd rosflight_ws`.
-5. Clone the rosflight2 repository and its submodules
-   with `git clone --recursive https://github.com/byu-magicc/rosflight2.git`.
+5. Clone the rosflight repository and its submodules
+   with `git clone --recursive https://github.com/rosflight/rosflight.git`.
 6. Install all required dependencies with rosdep. To do so, initialize rosdep with `sudo rosdep init`, update
    with `rosdep update`, and install the dependencies
    with `rosdep install -i --from-path ./ -y --ignore-src`.
@@ -129,7 +129,7 @@ files found in the `rosflight_utils/params` directory mentioned above.
 ## Running the rosflight_io node
 
 To run the rosflight_io node when connected to real hardware, use the
-command `ros2 run rosflight rosflight_io --ros-args -p port:=/dev/ttyACM0`, replacing `/dev/ttyACM0` with the location
+command `ros2 run rosflight_io rosflight_io --ros-args -p port:=/dev/ttyACM0`, replacing `/dev/ttyACM0` with the location
 of serial port connected to the flight controller. This will launch a ROS2 node on your computer that will publish all
 sensor topics and create all command subscriptions needed to communicated with the firmware.
 
@@ -148,7 +148,7 @@ real sensors it calls Gazebo sensors.
 ### Launch rosflight_io node
 
 To run the rosflight_io node with the simulator, use the
-command `ros2 run rosflight rosflight_io --ros-args -p udp:=true`.
+command `ros2 run rosflight_io rosflight_io --ros-args -p udp:=true`.
 
 ### Launch RC controller interface node
 

fix_code_style.sh

@@ -6,9 +6,9 @@ SCRIPTPATH=`dirname $SCRIPT`
 cd $SCRIPTPATH
 
 # Find all files with ".hpp" or ".cpp" extensions in the current directory and subdirectories,
-# excluding certain paths (.rosflight/include/mavlink/v1.0/, ./rosflight_firmware/firmware/, and ./.git)
+# excluding certain paths (.rosflight_io/include/mavlink/v1.0/, ./rosflight_firmware/firmware/, and ./.git)
 find . -iname "*.hpp" -o -iname "*.cpp" | \
-egrep -v "^(.rosflight/include/mavlink/v1.0/|./rosflight_firmware/firmware/|./.git)" | \
+egrep -v "^(.rosflight_io/include/mavlink/v1.0/|./rosflight_firmware/firmware/|./.git)" | \
 
 # Format the files according to the rules specified in .clang-format
 xargs clang-format -i

rosflight_firmware/CMakeLists.txt

@@ -18,10 +18,10 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system thread)
 
-# clone firmware submodule if it is missing
-set(FIRMWARE_SUBMODULE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/firmware")
+# clone rosflight_firmware submodule if it is missing
+set(FIRMWARE_SUBMODULE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/rosflight_firmware")
 if(NOT EXISTS "${FIRMWARE_SUBMODULE_DIR}/.git")
-  message(STATUS "Firmware submodule not found at ${FIRMWARE_SUBMODULE_DIR}")
+  message(STATUS "rosflight_firmware submodule not found at ${FIRMWARE_SUBMODULE_DIR}")
   execute_process(
     COMMAND git submodule update --init --recursive
     WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
@@ -32,12 +32,12 @@ endif()
 execute_process(COMMAND git rev-parse --short=8 HEAD
   OUTPUT_VARIABLE GIT_VERSION_HASH
   OUTPUT_STRIP_TRAILING_WHITESPACE
-  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/firmware)
+  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/rosflight_firmware)
 
 execute_process(COMMAND git describe --tags --abbrev=8 --always --dirty --long
   OUTPUT_VARIABLE GIT_VERSION_STRING
   OUTPUT_STRIP_TRAILING_WHITESPACE
-  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/firmware)
+  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/rosflight_firmware)
 
 if("${GIT_VERSION_STRING}" STREQUAL "")
   set(GIT_VERSION_STRING "undefined")
@@ -53,10 +53,11 @@ endif()
 ###########
 
 set(FIRMWARE_INCLUDE_DIRS
-  firmware/include/
-  firmware/lib/
-  firmware/comms/
-  firmware/test/
+  rosflight_firmware/include/
+  rosflight_firmware/lib/
+  rosflight_firmware/comms/
+  rosflight_firmware/test/
+  rosflight_firmware/boards/udp/
   )
 
 include_directories(include
@@ -66,21 +67,21 @@ include_directories(include
 
 # rosflight_firmware
 add_library(rosflight_firmware
-  firmware/src/rosflight.cpp
-  firmware/src/nanoprintf.cpp
-  firmware/src/estimator.cpp
-  firmware/src/mixer.cpp
-  firmware/src/controller.cpp
-  firmware/src/param.cpp
-  firmware/src/state_manager.cpp
-  firmware/src/rc.cpp
-  firmware/src/command_manager.cpp
-  firmware/src/sensors.cpp
-  firmware/src/comm_manager.cpp
-
-  firmware/comms/mavlink/mavlink.cpp
-
-  firmware/lib/turbomath/turbomath.cpp
+  rosflight_firmware/src/rosflight.cpp
+  rosflight_firmware/src/nanoprintf.cpp
+  rosflight_firmware/src/estimator.cpp
+  rosflight_firmware/src/mixer.cpp
+  rosflight_firmware/src/controller.cpp
+  rosflight_firmware/src/param.cpp
+  rosflight_firmware/src/state_manager.cpp
+  rosflight_firmware/src/rc.cpp
+  rosflight_firmware/src/command_manager.cpp
+  rosflight_firmware/src/sensors.cpp
+  rosflight_firmware/src/comm_manager.cpp
+
+  rosflight_firmware/comms/mavlink/mavlink.cpp
+
+  rosflight_firmware/lib/turbomath/turbomath.cpp
   )
 target_compile_definitions(rosflight_firmware PUBLIC
   GIT_VERSION_HASH=0x${GIT_VERSION_HASH}
@@ -98,7 +99,7 @@ install(
 
 # rosflight_udp_board
 add_library(rosflight_udp_board
-  src/udp_board.cpp
+  rosflight_firmware/boards/udp/udp_board.cpp
   )
 target_link_libraries(rosflight_udp_board
   rosflight_firmware
@@ -118,7 +119,7 @@ install(
 
 # rosflight_test
 add_library(rosflight_test
-  firmware/test/test_board.cpp
+  rosflight_firmware/test/test_board.cpp
   )
 target_link_libraries(rosflight_test
   rosflight_firmware
@@ -135,7 +136,7 @@ install(
 
 
 install(
-  DIRECTORY include/${PROJECT_NAME}/ ${FIRMWARE_INCLUDE_DIRS}
+  DIRECTORY ${PROJECT_NAME}/ ${FIRMWARE_INCLUDE_DIRS}
   DESTINATION include
 )
 

rosflight_firmware/package.xml

@@ -12,8 +12,8 @@
   <license>BSD</license>
 
   <url type="website">https://rosflight.org</url>
-  <url type="repository">https://github.com/rosflight/rosflight2</url>
-  <url type="bugtracker">https://github.com/rosflight/rosflight2/issues</url>
+  <url type="repository">https://github.com/rosflight/rosflight</url>
+  <url type="bugtracker">https://github.com/rosflight/rosflight/issues</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>