initial minimal PX4_ROS2 platform and px4_ros2_default build (#20689)

- new ROS2 platform in PX4 intended for creating configs that build and run entirely in ROS2
 - PX4_CONFIG defaults to px4_ros2_default if no config specified and in a colcon workspace with ROS_VERSION=2
 - currently doesn't do much other than allow you to build px4 msgs interface package

platforms/ros2/include/uORB/Publication.hpp

@@ -0,0 +1,148 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Publication.hpp
+ *
+ */
+
+#pragma once
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "uORB.h"
+
+namespace uORB
+{
+
+template <typename U> class DefaultQueueSize
+{
+private:
+	template <typename T>
+	static constexpr uint8_t get_queue_size(decltype(T::ORB_QUEUE_LENGTH) *)
+	{
+		return T::ORB_QUEUE_LENGTH;
+	}
+
+	template <typename T> static constexpr uint8_t get_queue_size(...)
+	{
+		return 1;
+	}
+
+public:
+	static constexpr unsigned value = get_queue_size<U>(nullptr);
+};
+
+/**
+ * uORB publication wrapper class
+ */
+template<typename T, uint8_t ORB_QSIZE = DefaultQueueSize<T>::value>
+class Publication
+{
+public:
+
+	/**
+	 * Constructor
+	 *
+	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
+	 */
+	Publication(rclcpp::Node *node, ORB_ID id) : _node(*node), _id(id)
+	{
+		_publisher = _node.create_publisher<T>(::get_topic_string(_id), ORB_QSIZE); // TODO
+	}
+
+	bool advertised() { return (_publisher != nullptr); }
+
+	bool advertise()
+	{
+		if (!advertised()) {
+			_publisher = _node.create_publisher<T>(get_topic_string(_id), ORB_QSIZE);
+		}
+
+		return advertised();
+	}
+
+	/**
+	 * Publish the struct
+	 * @param data The uORB message struct we are updating.
+	 */
+	bool publish(const T &data)
+	{
+		if (!advertised()) {
+			advertise();
+		}
+
+		_publisher->publish(data);
+
+		return true;
+	}
+
+private:
+	typename rclcpp::Publisher<T>::SharedPtr _publisher{nullptr};
+
+	rclcpp::Node &_node;
+
+	const ORB_ID _id;
+};
+
+/**
+ * The publication class with data embedded.
+ */
+template<typename T>
+class PublicationData : public Publication<T>
+{
+public:
+	/**
+	 * Constructor
+	 *
+	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
+	 */
+	PublicationData(ORB_ID id) : Publication<T>(id) {}
+	//PublicationData(const orb_metadata *meta) : Publication<T>(meta) {}
+
+	T	&get() { return _data; }
+	void	set(const T &data) { _data = data; }
+
+	// Publishes the embedded struct.
+	bool	update() { return Publication<T>::publish(_data); }
+	bool	update(const T &data)
+	{
+		_data = data;
+		return Publication<T>::publish(_data);
+	}
+
+private:
+	T _data{};
+};
+
+} // namespace uORB

platforms/ros2/include/uORB/Subscription.hpp

@@ -0,0 +1,167 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Subscription.hpp
+ *
+ */
+
+#pragma once
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "uORB.h"
+
+using std::placeholders::_1;
+
+namespace uORB
+{
+
+class SubscriptionCallback;
+
+template<typename S>
+class Subscription2
+{
+public:
+
+	/**
+	 * Constructor
+	 *
+	 * @param id The uORB ORB_ID enum for the topic.
+	 * @param instance The instance for multi sub.
+	 */
+	Subscription2(rclcpp::Node *node, ORB_ID id, uint8_t instance = 0) :
+		_node(*node),
+		_id(id)
+	{
+		subscribe();
+
+		(void)instance; // TODO:
+	}
+
+	~Subscription2()
+	{
+		unsubscribe();
+	}
+
+	bool subscribe()
+	{
+		if (_subscription == nullptr) {
+			_subscription = _node.create_subscription<S>(::get_topic_string(_id), 1, std::bind(&Subscription2<S>::topic_callback,
+					this, _1));
+		}
+
+		return (_subscription != nullptr);
+	}
+
+	void unsubscribe() {}
+
+	bool valid() const { return _subscription != nullptr; }
+	bool advertised()
+	{
+		if (valid()) {
+			return true;
+		}
+
+		// try to initialize
+		if (subscribe()) {
+			// check again if valid
+			if (valid()) {
+				return true;
+			}
+		}
+
+		return false;
+	}
+
+	/**
+	 * Check if there is a new update.
+	 */
+	//bool updated() { return advertised() && _node->updates_available(_last_generation); }
+	bool updated() { return true; }
+
+	/**
+	 * Update the struct
+	 * @param dst The uORB message struct we are updating.
+	 */
+	bool update(void *dst) { return updated() && copy(dst); }
+
+	/**
+	 * Copy the struct
+	 * @param dst The uORB message struct we are updating.
+	 */
+	bool copy(void *dst)
+	{
+		if (advertised()) {
+			S msg{};
+			//_subscription->return_message(&msg);
+			memcpy(dst, &msg, sizeof(S));
+		}
+
+		return false;
+	}
+
+	/**
+	 * Change subscription instance
+	 * @param instance The new multi-Subscription instance
+	 */
+	bool ChangeInstance(uint8_t instance);
+
+	uint8_t  get_instance() const { return _instance; }
+	unsigned get_last_generation() const { return _last_generation; }
+	orb_id_t get_topic() const { return get_orb_meta(_id); }
+
+protected:
+
+	typename rclcpp::Subscription<S>::SharedPtr _subscription{nullptr};
+	rclcpp::Node &_node;
+
+	unsigned _last_generation{0}; /**< last generation the subscriber has seen */
+
+	ORB_ID _id{ORB_ID::INVALID};
+	uint8_t _instance{0};
+
+private:
+	void topic_callback(const typename S::SharedPtr msg)
+	{
+		(void)msg; // TODO
+		//_msg_buffer = msg;
+		_topic_generation++;
+	}
+
+	S _msg_buffer[1];
+
+	uint32_t _topic_generation{0};
+};
+
+} // namespace uORB

platforms/ros2/include/uORB/SubscriptionBasic.hpp

@@ -0,0 +1,155 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Subscription.hpp
+ *
+ */
+
+#pragma once
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "rclcpp/subscription_base.hpp"
+
+#include "uORB.h"
+
+namespace uORB
+{
+
+// Base subscription wrapper class
+class SubscriptionBasic
+{
+public:
+
+	/**
+	 * Constructor
+	 *
+	 * @param id The uORB ORB_ID enum for the topic.
+	 * @param instance The instance for multi sub.
+	 */
+	Subscription(rclcpp::Node *node, ORB_ID id, uint8_t instance = 0) :
+		_node(*node),
+		_id(id)
+	{
+		subscribe();
+
+		(void)instance; // TODO:
+	}
+
+	~Subscription()
+	{
+		unsubscribe();
+	}
+
+	bool subscribe()
+	{
+		if (_subscription == nullptr) {
+			//_subscription = _node.create_subscription<px4::msg::VehicleStatus>("vehicle_status", 1, std::bind(&Subscription::topic_callback, this, _1));
+		}
+
+		return (_subscription != nullptr);
+	}
+
+	void unsubscribe() {}
+
+	bool valid() const { return _subscription != nullptr; }
+	bool advertised()
+	{
+		if (valid()) {
+			return true;
+		}
+
+		// try to initialize
+		if (subscribe()) {
+			// check again if valid
+			if (valid()) {
+				return true;
+			}
+		}
+
+		return false;
+	}
+
+	/**
+	 * Check if there is a new update.
+	 */
+	//bool updated() { return advertised() && _node->updates_available(_last_generation); }
+	bool updated() { return true; }
+
+	/**
+	 * Update the struct
+	 * @param dst The uORB message struct we are updating.
+	 */
+	bool update(void *dst) { return updated() && copy(dst); }
+
+	/**
+	 * Copy the struct
+	 * @param dst The uORB message struct we are updating.
+	 */
+	bool copy(void *dst)
+	{
+		if (advertised()) {
+			//_subscription->return_message(&msg);
+			//memcpy(dst, &msg, sizeof(px4::msg::VehicleStatus));
+		}
+
+		return false;
+	}
+
+	/**
+	 * Change subscription instance
+	 * @param instance The new multi-Subscription instance
+	 */
+	bool ChangeInstance(uint8_t instance);
+
+	uint8_t  get_instance() const { return _instance; }
+	unsigned get_last_generation() const { return _last_generation; }
+	orb_id_t get_topic() const { return get_orb_meta(_id); }
+
+protected:
+
+	rclcpp::SubscriptionBase::SharedPtr _subscription{nullptr};
+	rclcpp::Node &_node;
+
+	unsigned _last_generation{0}; /**< last generation the subscriber has seen */
+
+	ORB_ID _id{ORB_ID::INVALID};
+	uint8_t _instance{0};
+
+private:
+
+	uint32_t _topic_generation{0};
+};
+
+} // namespace uORB

platforms/ros2/include/uORB/uORB.h

@@ -0,0 +1,99 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+
+/**
+ * Object metadata.
+ */
+struct orb_metadata {
+	const char *o_name;		/**< unique object name */
+	const uint16_t o_size;		/**< object size */
+	const uint16_t o_size_no_padding;	/**< object size w/o padding at the end (for logger) */
+	const char *o_fields;		/**< semicolon separated list of fields (with type) */
+	uint8_t o_id;			/**< ORB_ID enum */
+};
+
+typedef const struct orb_metadata *orb_id_t;
+
+/**
+ * Maximum number of multi topic instances. This must be <= 10 (because it's the last char of the node path)
+ */
+#if defined(CONSTRAINED_MEMORY)
+# define ORB_MULTI_MAX_INSTANCES 4
+#else
+# define ORB_MULTI_MAX_INSTANCES 10
+#endif
+
+
+
+#define ORB_ID(_name)		&__orb_##_name
+
+#if defined(__cplusplus)
+# define ORB_DECLARE(_name)		extern "C" const struct orb_metadata __orb_##_name __EXPORT
+#else
+# define ORB_DECLARE(_name)		extern const struct orb_metadata __orb_##_name __EXPORT
+#endif
+
+
+#define ORB_DEFINE(_name, _struct, _size_no_padding, _fields, _orb_id_enum)		\
+	const struct orb_metadata __orb_##_name = {	\
+		#_name,					\
+		sizeof(_struct),		\
+		_size_no_padding,			\
+		_fields,				\
+		_orb_id_enum				\
+	}; struct hack
+
+/**
+ * Print a topic to console. Do not call this directly, use print_message() instead.
+ * @param meta orb topic metadata
+ * @param data expected to be aligned to the largest member
+ */
+void orb_print_message_internal(const struct orb_metadata *meta, const void *data, bool print_topic_name);
+
+#ifndef PX4_INFO_RAW
+# define PX4_INFO_RAW		printf
+#endif
+
+#ifdef __cplusplus
+
+#include <uORBTopics.hpp>
+
+#endif // __cplusplus