Imported upstream version '1.18.0' of 'upstream'

mavlink · Mar 3, 2024 · eae036f · eae036f
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diff --git a/libmavconn/CHANGELOG.rst b/libmavconn/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package libmavconn
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.18.0 (2024-03-03)
+-------------------
+
 1.17.0 (2023-09-09)
 -------------------
 * Merge pull request `#1865 <https://github.com/mavlink/mavros/issues/1865>`_ from scoutdi/warnings

diff --git a/libmavconn/package.xml b/libmavconn/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>libmavconn</name>
-  <version>1.17.0</version>
+  <version>1.18.0</version>
   <description>
     MAVLink communication library.
     This library provide unified connection handling classes

diff --git a/mavros/CHANGELOG.rst b/mavros/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package mavros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.18.0 (2024-03-03)
+-------------------
+* sys_status.cpp: improve timeout code
+* sys_status.cpp: Add a SYS_STATUS message publisher
+* Contributors: Dr.-Ing. Amilcar do Carmo Lucas
+
 1.17.0 (2023-09-09)
 -------------------
 * cog: regenerate all

diff --git a/mavros/package.xml b/mavros/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mavros</name>
-  <version>1.17.0</version>
+  <version>1.18.0</version>
   <description>
     MAVROS -- MAVLink extendable communication node for ROS
     with proxy for Ground Control Station.

diff --git a/mavros/src/plugins/sys_status.cpp b/mavros/src/plugins/sys_status.cpp
@@ -27,6 +27,7 @@
 #include <mavros_msgs/VehicleInfo.h>
 #include <mavros_msgs/VehicleInfoGet.h>
 #include <mavros_msgs/MessageInterval.h>
+#include <mavros_msgs/SysStatus.h>
 
 
 #ifdef HAVE_SENSOR_MSGS_BATTERYSTATE_MSG
@@ -394,11 +395,12 @@ class MemInfo : public diagnostic_updater::DiagnosticTask
 		ros::Time last_rcd_;
 		last_rcd_.fromNSec(last_rcd.load());
 		constexpr int timeout = 10.0; // seconds
+		const ros::Duration timeout_duration = ros::Duration(timeout);
 
 		// summarize the results
 		if (last_rcd_.isZero()) {
 			stat.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "Not initialised");
-		} else if (ros::Time::now().toSec() - last_rcd_.toSec() > timeout) {
+		} else if (ros::Time::now() - last_rcd_ > timeout_duration) {
 			stat.summary(diagnostic_msgs::DiagnosticStatus::STALE, "Not received for more than " + std::to_string(timeout) + "s");
 		} else {
 			if (freemem == UINT32_MAX)
@@ -444,9 +446,10 @@ class HwStatus : public diagnostic_updater::DiagnosticTask
 	{
 		std::lock_guard<std::mutex> lock(mutex);
 		constexpr int timeout = 10.0; // seconds
+		const ros::Duration timeout_duration = ros::Duration(timeout);
 		if (last_rcd.isZero()) {
 			stat.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "Not initialised");
-		} else if (ros::Time::now().toSec() - last_rcd.toSec() > timeout) {
+		} else if (ros::Time::now() - last_rcd > timeout_duration) {
 			stat.summary(diagnostic_msgs::DiagnosticStatus::STALE, "Not received for more than " + std::to_string(timeout) + "s");
 		} else {
 			if (vcc < 0)
@@ -556,6 +559,7 @@ class SystemStatusPlugin : public plugin::PluginBase
 		batt_pub = nh.advertise<BatteryMsg>("battery", 10);
 		estimator_status_pub = nh.advertise<mavros_msgs::EstimatorStatus>("estimator_status", 10);
 		statustext_pub = nh.advertise<mavros_msgs::StatusText>("statustext/recv", 10);
+		sys_status_pub = nh.advertise<mavros_msgs::SysStatus>("sys_status", 10);
 		statustext_sub = nh.subscribe("statustext/send", 10, &SystemStatusPlugin::statustext_cb, this);
 		rate_srv = nh.advertiseService("set_stream_rate", &SystemStatusPlugin::set_rate_cb, this);
 		mode_srv = nh.advertiseService("set_mode", &SystemStatusPlugin::set_mode_cb, this);
@@ -598,6 +602,7 @@ class SystemStatusPlugin : public plugin::PluginBase
 	ros::Publisher batt_pub;
 	ros::Publisher estimator_status_pub;
 	ros::Publisher statustext_pub;
+	ros::Publisher sys_status_pub;
 	ros::Subscriber statustext_sub;
 	ros::ServiceServer rate_srv;
 	ros::ServiceServer mode_srv;
@@ -832,6 +837,25 @@ class SystemStatusPlugin : public plugin::PluginBase
 
 		sys_diag.set(stat);
 
+		mavros_msgs::SysStatus sys_status;
+		sys_status.header.stamp = ros::Time::now();
+		sys_status.sensors_present = stat.onboard_control_sensors_present;
+		sys_status.sensors_enabled = stat.onboard_control_sensors_enabled;
+		sys_status.sensors_health = stat.onboard_control_sensors_health;
+
+		sys_status.load = stat.load;
+		sys_status.voltage_battery = stat.voltage_battery;
+		sys_status.current_battery = stat.current_battery;
+		sys_status.battery_remaining = stat.battery_remaining;
+		sys_status.drop_rate_comm = stat.drop_rate_comm;
+		sys_status.errors_comm = stat.errors_comm;
+		sys_status.errors_count1 = stat.errors_count1;
+		sys_status.errors_count2 = stat.errors_count2;
+		sys_status.errors_count3 = stat.errors_count3;
+		sys_status.errors_count4 = stat.errors_count4;
+
+		sys_status_pub.publish(sys_status);
+
 		if (has_battery_status0)
 			return;
 

diff --git a/mavros_extras/CHANGELOG.rst b/mavros_extras/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package mavros_extras
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.18.0 (2024-03-03)
+-------------------
+* [camera plugin] Fix image_index and capture_result not properly filled
+* Fix missing semi-colon
+* GPS_STATUS Plugin: Fill in available messages for ROS1 legacy
+  Filled in available fields in GPS_RAW_INT & GPS2_RAW messages
+  p.s. seems GPS2_RAW more complete than original GPS_RAW_INT
+* Contributors: Beniamino Pozzan, Seunghwan Jo
+
 1.17.0 (2023-09-09)
 -------------------
 * Merge pull request `#1865 <https://github.com/mavlink/mavros/issues/1865>`_ from scoutdi/warnings

diff --git a/mavros_extras/package.xml b/mavros_extras/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mavros_extras</name>
-  <version>1.17.0</version>
+  <version>1.18.0</version>
   <description>
     Extra nodes and plugins for <a href="http://wiki.ros.org/mavros">MAVROS</a>.
   </description>

diff --git a/mavros_extras/src/plugins/camera.cpp b/mavros_extras/src/plugins/camera.cpp
@@ -76,6 +76,8 @@ class CameraPlugin : public plugin::PluginBase {
 		ic->relative_alt = mo.relative_alt / 1E3;
 		auto q = ftf::mavlink_to_quaternion(mo.q);
 		tf::quaternionEigenToMsg(q, ic->orientation);
+		ic->image_index = mo.image_index;
+		ic->capture_result = mo.capture_result;
 		ic->file_url = mavlink::to_string(mo.file_url);
 
 		camera_image_captured_pub.publish(ic);

diff --git a/mavros_extras/src/plugins/gps_status.cpp b/mavros_extras/src/plugins/gps_status.cpp
@@ -84,6 +84,7 @@ class GpsStatusPlugin : public plugin::PluginBase {
 		ros_msg->hdg_acc           = mav_msg.hdg_acc;
 		ros_msg->dgps_numch        = UINT8_MAX;	// information not available in GPS_RAW_INT mavlink message
 		ros_msg->dgps_age          = UINT32_MAX;// information not available in GPS_RAW_INT mavlink message
+		ros_msg->yaw               = mav_msg.yaw;
 
 		gps1_raw_pub.publish(ros_msg);
 	}
@@ -103,13 +104,14 @@ class GpsStatusPlugin : public plugin::PluginBase {
 		ros_msg->vel               = mav_msg.vel;
 		ros_msg->cog               = mav_msg.cog;
 		ros_msg->satellites_visible = mav_msg.satellites_visible;
-		ros_msg->alt_ellipsoid     = INT32_MAX;	// information not available in GPS2_RAW mavlink message
-		ros_msg->h_acc             = UINT32_MAX;// information not available in GPS2_RAW mavlink message
-		ros_msg->v_acc             = UINT32_MAX;// information not available in GPS2_RAW mavlink message
-		ros_msg->vel_acc           = UINT32_MAX;// information not available in GPS2_RAW mavlink message
-		ros_msg->hdg_acc           = UINT32_MAX;// information not available in GPS2_RAW mavlink message
+		ros_msg->alt_ellipsoid     = mav_msg.alt_ellipsoid;
+		ros_msg->h_acc             = mav_msg.h_acc;
+		ros_msg->v_acc             = mav_msg.v_acc;
+		ros_msg->vel_acc           = mav_msg.vel_acc;
+		ros_msg->hdg_acc           = mav_msg.hdg_acc;
 		ros_msg->dgps_numch        = mav_msg.dgps_numch;
 		ros_msg->dgps_age          = mav_msg.dgps_age;
+		ros_msg->yaw               = mav_msg.yaw;
 
 		gps2_raw_pub.publish(ros_msg);
 	}

diff --git a/mavros_msgs/CHANGELOG.rst b/mavros_msgs/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package mavros_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.18.0 (2024-03-03)
+-------------------
+* sys_status.cpp: Add a SYS_STATUS message publisher
+* Contributors: Dr.-Ing. Amilcar do Carmo Lucas
+
 1.17.0 (2023-09-09)
 -------------------
 * cog: regenerate all

diff --git a/mavros_msgs/CMakeLists.txt b/mavros_msgs/CMakeLists.txt
@@ -60,6 +60,7 @@ add_message_files(
   RTKBaseline.msg
   State.msg
   StatusText.msg
+  SysStatus.msg
   TerrainReport.msg
   Thrust.msg
   TimesyncStatus.msg

diff --git a/mavros_msgs/msg/SysStatus.msg b/mavros_msgs/msg/SysStatus.msg
@@ -0,0 +1,15 @@
+std_msgs/Header header
+
+uint32 sensors_present
+uint32 sensors_enabled
+uint32 sensors_health
+uint16 load
+uint16 voltage_battery
+int16 current_battery
+int8 battery_remaining
+uint16 drop_rate_comm
+uint16 errors_comm
+uint16 errors_count1
+uint16 errors_count2
+uint16 errors_count3
+uint16 errors_count4
diff --git a/mavros_msgs/package.xml b/mavros_msgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mavros_msgs</name>
-  <version>1.17.0</version>
+  <version>1.18.0</version>
   <description>
     mavros_msgs defines messages for <a href="http://wiki.ros.org/mavros">MAVROS</a>.
   </description>

diff --git a/test_mavros/CHANGELOG.rst b/test_mavros/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package test_mavros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.18.0 (2024-03-03)
+-------------------
+
 1.17.0 (2023-09-09)
 -------------------
 * Merge pull request `#1865 <https://github.com/mavlink/mavros/issues/1865>`_ from scoutdi/warnings

diff --git a/test_mavros/package.xml b/test_mavros/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>test_mavros</name>
-  <version>1.17.0</version>
+  <version>1.18.0</version>
   <description>Tests for MAVROS package</description>
 
   <maintainer email="vooon341@gmail.com">Vladimir Ermakov</maintainer>