ported roboclaw driver from older commits into newest develop branch

msg/ActuatorControls.msg

@@ -0,0 +1,28 @@
+uint64 timestamp			# time since system start (microseconds)
+uint8 NUM_ACTUATOR_CONTROLS = 8
+uint8 NUM_ACTUATOR_CONTROL_GROUPS = 6
+uint8 INDEX_ROLL = 0
+uint8 INDEX_PITCH = 1
+uint8 INDEX_YAW = 2
+uint8 INDEX_THROTTLE = 3
+uint8 INDEX_FLAPS = 4
+uint8 INDEX_SPOILERS = 5
+uint8 INDEX_AIRBRAKES = 6
+uint8 INDEX_LANDING_GEAR = 7
+uint8 INDEX_GIMBAL_SHUTTER = 3
+uint8 INDEX_CAMERA_ZOOM = 4
+
+uint8 GROUP_INDEX_ATTITUDE = 0
+uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1
+uint8 GROUP_INDEX_GIMBAL = 2
+uint8 GROUP_INDEX_MANUAL_PASSTHROUGH = 3
+uint8 GROUP_INDEX_ALLOCATED_PART1 = 4
+uint8 GROUP_INDEX_ALLOCATED_PART2 = 5
+uint8 GROUP_INDEX_PAYLOAD = 6
+
+uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
+float32[8] control
+
+# TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2 actuator_controls_3
+# TOPICS actuator_controls_4 actuator_controls_5
+# TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc

msg/CMakeLists.txt

@@ -169,6 +169,7 @@ set(msg_files
 	RegisterExtComponentReply.msg
 	RegisterExtComponentRequest.msg
 	Rpm.msg
+	ActuatorControls.msg
 	RtlTimeEstimate.msg
 	SatelliteInfo.msg
 	SensorAccel.msg
@@ -235,6 +236,7 @@ set(msg_files
 	VehicleTrajectoryWaypoint.msg
 	VtolVehicleStatus.msg
 	Wind.msg
+	WheelEncoders.msg
 	YawEstimatorStatus.msg
 )
 list(SORT msg_files)

msg/WheelEncoders.msg

@@ -0,0 +1,5 @@
+uint64 timestamp			# time since system start (microseconds)
+
+int64 encoder_position   # The wheel position, in encoder counts since boot. Positive is forward rotation, negative is reverse rotation
+int32 speed              # Speed of each wheel, in encoder counts per second. Positive is forward, negative is reverse
+uint32 pulses_per_rev    # Number of pulses per revolution for each wheel