mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 12:03:33 +08:00
msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge
- update all msgs to be directly compatible with ROS2 - microdds_client improvements - timesync - reduced code size - add to most default builds if we can afford it - lots of other little changes - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
This commit is contained in:
Daniel Agar
Vendored
+3
-154
@@ -13,76 +13,6 @@ pipeline {
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}
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}
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parallel {
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// stage('Catkin build on ROS workspace') {
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// agent {
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// docker {
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// image 'px4io/px4-dev-ros-melodic:2021-08-18'
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// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
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// }
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// }
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// steps {
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// sh 'ls -l'
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// sh '''#!/bin/bash -l
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// echo $0;
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// mkdir -p catkin_ws/src;
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// cd catkin_ws;
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// git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo
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// git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/simulation/gazebo/sitl_gazebo src/mavlink_sitl_gazebo;
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// git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
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// source /opt/ros/melodic/setup.bash;
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// export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
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// catkin init;
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// catkin build -j$(nproc) -l$(nproc);
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// '''
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// // test if the binary was correctly installed and runs using 'mavros_posix_sitl.launch'
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// sh '''#!/bin/bash -l
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// echo $0;
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// source catkin_ws/devel/setup.bash;
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// rostest px4 pub_test.launch;
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// '''
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// }
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// post {
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// always {
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// sh 'rm -rf catkin_ws'
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// }
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// failure {
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// archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
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// }
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// }
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// options {
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// checkoutToSubdirectory('catkin_ws/src/Firmware')
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// }
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// }
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stage('Colcon build on ROS2 workspace') {
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agent {
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docker {
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image 'px4io/px4-dev-ros2-foxy:2021-08-18'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
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}
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}
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steps {
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sh 'ls -l'
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sh '''#!/bin/bash -l
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echo $0;
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unset ROS_DISTRO;
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mkdir -p colcon_ws/src;
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cd colcon_ws;
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git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo;
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git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
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source /opt/ros/foxy/setup.sh;
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colcon build --event-handlers console_direct+ --symlink-install;
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'''
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}
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post {
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always {
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sh 'rm -rf colcon_ws'
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}
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}
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options {
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checkoutToSubdirectory('colcon_ws/src/Firmware')
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}
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}
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stage('Airframe') {
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agent {
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@@ -149,7 +79,7 @@ pipeline {
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docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
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}
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steps {
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sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
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sh 'mkdir -p build/msg_docs; ./Tools/msg/generate_msg_docs.py -d build/msg_docs'
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dir('build') {
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archiveArtifacts(artifacts: 'msg_docs/*.md')
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stash includes: 'msg_docs/*.md', name: 'msg_documentation'
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@@ -288,37 +218,6 @@ pipeline {
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}
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}
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stage('microRTPS agent') {
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agent {
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docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
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}
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steps {
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sh('export')
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sh('git fetch --all --tags')
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sh('make distclean; git clean -ff -x -d .')
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sh('make px4_sitl_rtps')
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withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
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sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
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sh("rm -rf micrortps_agent/src micrortps_agent/idl")
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sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
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sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
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sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
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sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
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sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
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sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
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sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
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sh('rm -rf micrortps_agent')
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}
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}
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when {
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anyOf {
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branch 'main'
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branch 'master' // should be removed, but in case there is something going on...
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branch 'pr-jenkins' // for testing
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}
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}
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}
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stage('PX4 ROS msgs') {
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agent {
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docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
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@@ -329,66 +228,16 @@ pipeline {
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withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
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sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
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// 'main' branch
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sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
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sh('rm -f px4_msgs/msg/*.msg')
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sh('cp msg/*.msg px4_msgs/msg/')
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sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
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sh('cd px4_msgs; git push origin main || true')
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// 'ros1' branch
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sh('cd px4_msgs; git checkout ros1')
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sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
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sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
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sh('cd px4_msgs; git push origin ros1 || true')
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sh('rm -rf px4_msgs')
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}
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}
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when {
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anyOf {
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branch 'main'
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branch 'master' // should be removed, but in case there is something going on...
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branch 'pr-jenkins' // for testing
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}
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}
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}
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stage('PX4 ROS2 bridge') {
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agent {
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docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
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}
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steps {
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sh('export')
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sh('make distclean; git clean -ff -x -d .')
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withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
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sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
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// deploy uORB RTPS ID map
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sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
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sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
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sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
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// deploy uORB RTPS required tools
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sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
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sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
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sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
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sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
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// deploy templates
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sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
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sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
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sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
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sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
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sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
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sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
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sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
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sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
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sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
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sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
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sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
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sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
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sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
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sh('rm -rf px4_msgs')
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}
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}
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when {
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anyOf {
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branch 'main'
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branch 'master' // should be removed, but in case there is something going on...
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branch 'pr-jenkins' // for testing
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}
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}
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}
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