px4_msgs overhaul corresponding with new PX4-Autopilot microdds_client

Author: dagar

.github/workflows/build.yml

@@ -5,10 +5,6 @@ on:
   push:
     branches:
       - 'main'
-      - 'ros2'
-  pull_request:
-    branches-ignore:
-      - '**ros1**'
 
 defaults:
   run:
@@ -21,7 +17,7 @@ jobs:
     container: px4io/px4-dev-ros2-${{ matrix.ros2_distro }}:2021-05-31
     strategy:
       matrix:
-        ros2_distro: [dashing, eloquent, foxy, galactic, rolling]
+        ros2_distro: [foxy, humble, rolling]
     steps:
       - uses: actions/checkout@v3
       - name: build

.gitignore

@@ -1 +1,2 @@
+build/
 msg/idl.cc

CMakeLists.txt

@@ -4,29 +4,14 @@ project(px4_msgs)
 
 list(INSERT CMAKE_MODULE_PATH 0 "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
-include(EnableC++XX)
-
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra)
+	add_compile_options(-Wall -Wextra)
 endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
-# find ROS distro
-set(ROS_DISTRO)
-if(DEFINED ENV{ROS2_DISTRO})
-  set(ROS_DISTRO $ENV{ROS2_DISTRO})
-else()
-  set(ROS_DISTRO $ENV{ROS_DISTRO})
-endif()
-
-if(${ROS_DISTRO} MATCHES "ardent" OR ${ROS_DISTRO} MATCHES "bouncy" OR
-   ${ROS_DISTRO} MATCHES "crystal")
-  find_package(rosidl_generator_dds_idl REQUIRED)
-endif()
-
 # ##############################################################################
 # Generate ROS messages, ROS2 interfaces and IDL files #
 # ##############################################################################
@@ -39,32 +24,11 @@ file(GLOB ROS_MSG_DIR_LIST "${MSGS_DIR}/*.msg")
 
 set(ROS_MSG_DIR_LIST "${ROS_MSG_DIR_LIST}" CACHE INTERNAL "ROS_MSG_DIR_LIST")
 
-if(NOT "${PX4_MSGS}" STREQUAL "")
-  # Generate introspection typesupport for C and C++ and IDL files
-  rosidl_generate_interfaces(${PROJECT_NAME}
-                             ${PX4_MSGS}
-                             DEPENDENCIES
-                             builtin_interfaces
-                             ADD_LINTER_TESTS)
-
-  # Generate Fast RTPS IDL files (previous to Dashing, so to make the IDL
-  # compatible with the upstream PX4 IDL generator)
-  if(${ROS_DISTRO} MATCHES "ardent" OR ${ROS_DISTRO} MATCHES "bouncy" OR
-     ${ROS_DISTRO} MATCHES "crystal")
-    rosidl_generate_dds_interfaces(${PROJECT_NAME}__fastrtps_idl
-                                   IDL_FILES
-                                   ${ROS_MSG_DIR_LIST}
-                                   OUTPUT_SUBFOLDERS
-                                   "dds_fastrtps")
-    # rosidl_generator_dds_idl requires a target to generate the IDL files
-    # as we don't have one, we create a dummy target to serve the purpose
-    file(WRITE ${MSGS_DIR}/idl.cc "int main() { return 0; }")
-    add_executable(idl_target ${MSGS_DIR}/idl.cc)
-    add_dependencies(idl_target ${PROJECT_NAME}__fastrtps_idl)
-  endif()
-else()
-  message(FATAL_ERROR "No PX4 msgs found to generate interfaces to!")
-endif()
+# Generate introspection typesupport for C and C++ and IDL files
+rosidl_generate_interfaces(${PROJECT_NAME} ${PX4_MSGS}
+	DEPENDENCIES builtin_interfaces
+	ADD_LINTER_TESTS
+)
 
 ament_export_dependencies(rosidl_default_runtime)
 

cmake/EnableC++XX.cmake

@@ -16,4 +16,4 @@ uint8 SOURCE_RC_SWITCH = 1
 uint8 SOURCE_RC_BUTTON = 2
 uint8 SOURCE_RC_MODE_SLOT = 3
 
-uint8 mode # for ACTION_SWITCH_MODE what mode is requested according to commander_state.MAIN_STATE_
+uint8 mode # for ACTION_SWITCH_MODE what mode is requested according to vehicle_status_s::NAVIGATION_STATE_*

msg/ActionRequest.msg

@@ -20,3 +20,5 @@ uint8 GROUP_INDEX_GIMBAL = 2
 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
 float32[9] control
 
+# TOPICS actuator_controls_0 actuator_controls_1 actuator_controls_2
+# TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc

msg/ActuatorControls.msg

@@ -7,3 +7,4 @@ uint8 INDEX_THROTTLE = 3
 
 float32[4] control_power
 
+# TOPICS actuator_controls_status_0 actuator_controls_status_1