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PX4 ROS2 msg conformity and explicit topics

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- .msg files are PascalCase
 - topics are still either per msg or explicitly listed in TOPICS
 - compatible structs are still generated (eg struct msg_s), but ROS2 style px4::msg::Msg is also available
This commit is contained in:
Daniel Agar
2022-03-07 10:36:27 -05:00
parent 5affa693f2
commit 9ee8fa21cd
481 changed files with 5491 additions and 8399 deletions
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Makefile
+3 -25
View File
@@ -170,11 +170,6 @@ ifdef PYTHON_EXECUTABLE
CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
endif
# Check if the microRTPS agent is to be built
ifdef BUILD_MICRORTPS_AGENT
CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
endif
# Functions
# --------------------------------------------------------------------
# describe how to build a cmake config
@@ -251,7 +246,7 @@ endef
# Other targets
# --------------------------------------------------------------------
.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps
.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware
# QGroundControl flashable NuttX firmware
qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
@@ -276,15 +271,7 @@ misc_qgc_extra_firmware: \
check_airmind_mindpx-v2_default \
sizes
# builds with RTPS
check_rtps: \
check_px4_fmu-v3_rtps \
check_px4_fmu-v4_rtps \
check_px4_fmu-v4pro_rtps \
check_px4_sitl_rtps \
sizes
.PHONY: sizes check quick_check check_rtps uorb_graphs
.PHONY: sizes check quick_check uorb_graphs
sizes:
@-find build -name *.elf -type f | xargs size 2> /dev/null || :
@@ -479,7 +466,7 @@ clang-tidy-quiet: px4_sitl_default-clang
# TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
cppcheck: px4_sitl_default
@mkdir -p "$(SRC_DIR)"/build/cppcheck
@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++14 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++17 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
@cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/
shellcheck_all:
@@ -559,12 +546,3 @@ ifneq ($(ROS2_WS_DIR),)
else
ROS2_WS_DIR := ~/colcon_ws
endif
update_ros2_bridge:
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
update_px4_ros_com:
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
update_px4_msgs:
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs