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install/px4_ros_com/include/px4_ros_com/frame_transforms.h

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-/home/ubuntu/ros2_ws/src/px4_ros_com/include/px4_ros_com/frame_transforms.h

install/px4_ros_com/include/px4_ros_com/frame_transforms.h

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+/****************************************************************************
+ *
+ * Copyright 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 of the copyright holder 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 HOLDER 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @brief Functions to use on frame transforms
+ * @file frame_transform.h
+ * @addtogroup lib
+ * @author Nuno Marques <nuno.marques@dronesolutions.io>
+ *
+ * Adapted from MAVROS frame_tf.h
+ */
+
+#ifndef FRAME_TRANSFORMS_H
+#define FRAME_TRANSFORMS_H
+
+#include <Eigen/Eigen>
+#include <Eigen/Geometry>
+#include <array>
+
+// for Covariance types
+#include <geometry_msgs/msg/point.hpp>
+#include <geometry_msgs/msg/pose_with_covariance.hpp>
+#include <geometry_msgs/msg/quaternion.hpp>
+#include <geometry_msgs/msg/vector3.hpp>
+#include <sensor_msgs/msg/imu.hpp>
+
+namespace px4_ros_com
+{
+namespace frame_transforms
+{
+
+//! Type matching rosmsg for 3x3 covariance matrix
+using Covariance3d = sensor_msgs::msg::Imu::_angular_velocity_covariance_type;
+
+//! Type matching rosmsg for 6x6 covariance matrix
+using Covariance6d = geometry_msgs::msg::PoseWithCovariance::_covariance_type;
+
+//! Type matching rosmsg for 9x9 covariance matrix
+using Covariance9d = std::array<double, 81>;
+
+//! Eigen::Map for Covariance3d
+using EigenMapCovariance3d = Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor>>;
+using EigenMapConstCovariance3d = Eigen::Map<const Eigen::Matrix<double, 3, 3, Eigen::RowMajor>>;
+
+//! Eigen::Map for Covariance6d
+using EigenMapCovariance6d = Eigen::Map<Eigen::Matrix<double, 6, 6, Eigen::RowMajor>>;
+using EigenMapConstCovariance6d = Eigen::Map<const Eigen::Matrix<double, 6, 6, Eigen::RowMajor>>;
+
+//! Eigen::Map for Covariance9d
+using EigenMapCovariance9d = Eigen::Map<Eigen::Matrix<double, 9, 9, Eigen::RowMajor>>;
+using EigenMapConstCovariance9d = Eigen::Map<const Eigen::Matrix<double, 9, 9, Eigen::RowMajor>>;
+
+/**
+ * @brief Orientation transform options when applying rotations to data
+ */
+enum class StaticTF {
+	NED_TO_ENU,	           //!< change from expressed WRT NED frame to WRT ENU frame
+	ENU_TO_NED,	           //!< change from expressed WRT ENU frame to WRT NED frame
+	AIRCRAFT_TO_BASELINK,      //!< change from expressed WRT aircraft frame to WRT to baselink frame
+	BASELINK_TO_AIRCRAFT,      //!< change from expressed WRT baselnk to WRT aircraft
+	ECEF_TO_ENU,	           //!< change from expressed WRT ECEF frame to WRT ENU frame
+	ENU_TO_ECEF	           //!< change from expressed WRT ENU frame to WRT ECEF frame
+};
+
+// Utils to ease conversions
+namespace utils
+{
+
+// Quaternion
+namespace quaternion
+{
+
+/**
+ * @brief Convert euler angles to quaternion.
+ */
+Eigen::Quaterniond quaternion_from_euler(const Eigen::Vector3d &euler);
+
+/**
+ * @brief Convert euler angles to quaternion.
+ *
+ * @return quaternion, same as @a tf::quaternionFromeuler() but in Eigen format.
+ */
+Eigen::Quaterniond quaternion_from_euler(const double roll, const double pitch, const double yaw);
+
+/**
+ * @brief Convert quaternion to euler angles
+ * @return Eigen::Quaterniond
+ */
+Eigen::Vector3d quaternion_to_euler(const Eigen::Quaterniond &q);
+
+/**
+ * @brief Convert quaternion to euler angles
+ */
+void quaternion_to_euler(const Eigen::Quaterniond &q, double &roll, double &pitch, double &yaw);
+
+/**
+ * @brief Store Quaternion to float[4]
+ * Eigen::Quaterniond xyzw internal order to PX4 quaternion wxyz.
+ */
+void eigen_quat_to_array(const Eigen::Quaterniond &q, std::array<float, 4> &qarray);
+
+/**
+ * @brief Convert float[4] quaternion to Eigen Quaternion
+ */
+Eigen::Quaterniond array_to_eigen_quat(const std::array<float, 4> &q);
+
+/**
+ * @brief Get Yaw angle from quaternion
+ */
+double quaternion_get_yaw(const Eigen::Quaterniond &q);
+
+} // namespace quaternion
+
+// Data types
+namespace types
+{
+
+/**
+ * @brief Convert covariance matrix to float[n]
+ */
+template <class T, std::size_t SIZE> void covariance_to_array(const T &cov, std::array<float, SIZE> &covmsg);
+
+/**
+ * @brief Convert upper right triangular of a covariance matrix to float[n] array
+ */
+template <class T, std::size_t ARR_SIZE>
+void covariance_urt_to_array(const T &covmap, std::array<float, ARR_SIZE> &covmsg);
+
+/**
+ * @brief Convert float[n] array (upper right triangular of a covariance matrix)
+ * to Eigen::MatrixXd<n,n> full covariance matrix
+ */
+template <class T, std::size_t ARR_SIZE>
+void array_urt_to_covariance_matrix(const std::array<float, ARR_SIZE> &covmsg, T &covmat);
+
+} // namespace types
+} // namespace utils
+
+/**
+ * @brief Static quaternion needed for rotating between ENU and NED frames
+ * NED to ENU: +PI/2 rotation about Z (Down) followed by a +PI rotation around X (old North/new East)
+ * ENU to NED: +PI/2 rotation about Z (Up) followed by a +PI rotation about X (old East/new North)
+ */
+static const auto NED_ENU_Q = utils::quaternion::quaternion_from_euler(M_PI, 0.0, M_PI_2);
+
+/**
+ * @brief Static quaternion needed for rotating between aircraft and base_link frames
+ * +PI rotation around X (Forward) axis transforms from Forward, Right, Down (aircraft)
+ * Fto Forward, Left, Up (base_link) frames.
+ */
+static const auto AIRCRAFT_BASELINK_Q = utils::quaternion::quaternion_from_euler(M_PI, 0.0, 0.0);
+
+/**
+ * @brief Static vector needed for rotating between ENU and NED frames
+ * +PI rotation around X (North) axis follwed by +PI/2 rotation about Z (Down)
+ * gives the ENU frame.  Similarly, a +PI rotation about X (East) followed by
+ * a +PI/2 roation about Z (Up) gives the NED frame.
+ */
+static const Eigen::Affine3d NED_ENU_AFFINE(NED_ENU_Q);
+
+/**
+ * @brief Static vector needed for rotating between aircraft and base_link frames
+ * +PI rotation around X (Forward) axis transforms from Forward, Right, Down (aircraft)
+ * Fto Forward, Left, Up (base_link) frames.
+ */
+static const Eigen::Affine3d AIRCRAFT_BASELINK_AFFINE(AIRCRAFT_BASELINK_Q);
+
+/**
+ * @brief 3-D matrices to fill 6-D rotation matrix applied to change covariance matrices coordinate frames
+ */
+static const auto NED_ENU_R = NED_ENU_Q.normalized().toRotationMatrix();
+static const auto AIRCRAFT_BASELINK_R = AIRCRAFT_BASELINK_Q.normalized().toRotationMatrix();
+
+/**
+ * @brief Use reflections instead of rotations for NED <-> ENU transformation
+ * to avoid NaN/Inf floating point pollution across different axes
+ * since in NED <-> ENU the axes are perfectly aligned.
+ */
+static const Eigen::PermutationMatrix<3> NED_ENU_REFLECTION_XY(Eigen::Vector3i(1, 0, 2));
+static const Eigen::DiagonalMatrix<double, 3> NED_ENU_REFLECTION_Z(1, 1, -1);
+
+/**
+ * @brief Auxiliar matrices to Covariance transforms
+ */
+using Matrix6d = Eigen::Matrix<double, 6, 6>;
+using Matrix9d = Eigen::Matrix<double, 9, 9>;
+
+/**
+ * @brief Transform representation of orientation from 1 frame to another.
+ * (e.g. transfrom orientation from representing  from base_link -> NED to
+ * representing base_link -> ENU)
+ */
+Eigen::Quaterniond transform_orientation(const Eigen::Quaterniond &q, const StaticTF transform);
+
+/**
+ * @brief Transform data expressed in one frame to another.
+ */
+Eigen::Vector3d transform_frame(const Eigen::Vector3d &vec, const Eigen::Quaterniond &q);
+
+/**
+ * @brief Transform 3x3 convariance expressed in one frame to another.
+ */
+Covariance3d transform_frame(const Covariance3d &cov, const Eigen::Quaterniond &q);
+
+/**
+ * @brief Transform 6x6 convariance expressed in one frame to another.
+ */
+Covariance6d transform_frame(const Covariance6d &cov, const Eigen::Quaterniond &q);
+
+/**
+ * @brief Transform 9x9 convariance expressed in one frame to another.
+ */
+Covariance9d transform_frame(const Covariance9d &cov, const Eigen::Quaterniond &q);
+
+/**
+ * @brief Transform data expressed in one frame to another.
+ */
+Eigen::Vector3d transform_static_frame(const Eigen::Vector3d &vec, const StaticTF transform);
+
+/**
+ * @brief Transform 3d convariance expressed in one frame to another.
+ */
+Covariance3d transform_static_frame(const Covariance3d &cov, const StaticTF transform);
+
+/**
+ * @brief Transform 6d convariance expressed in one frame to another.
+ */
+Covariance6d transform_static_frame(const Covariance6d &cov, const StaticTF transform);
+
+/**
+ * @brief Transform 9d convariance expressed in one frame to another
+ */
+Covariance9d transform_static_frame(const Covariance9d &cov, const StaticTF transform);
+
+/**
+ * @brief Transform data expressed in one frame to another frame with additional
+ * map origin parameter.
+ */
+Eigen::Vector3d transform_static_frame(const Eigen::Vector3d &vec, const Eigen::Vector3d &map_origin,
+				       const StaticTF transform);
+
+/**
+ * @brief Transform from orientation represented WRT NED frame to orientation
+ * represented WRT ENU frame
+ */
+template <class T> inline T ned_to_enu_orientation(const T &in)
+{
+	return transform_orientation(in, StaticTF::NED_TO_ENU);
+}
+
+/**
+ * @brief Transform from orientation represented WRT ENU frame to orientation
+ * represented WRT NED frame
+ */
+template <class T> inline T enu_to_ned_orientation(const T &in)
+{
+	return transform_orientation(in, StaticTF::ENU_TO_NED);
+}
+
+/**
+ * @brief Transform from orientation represented WRT aircraft body frame to
+ * orientation represented WRT base_link body frame
+ */
+template <class T> inline T aircraft_to_baselink_orientation(const T &in)
+{
+	return transform_orientation(in, StaticTF::AIRCRAFT_TO_BASELINK);
+}
+
+/**
+ * @brief Transform from orientation represented WRT base_link body frame to
+ * orientation represented WRT aircraft body frame
+ */
+template <class T> inline T baselink_to_aircraft_orientation(const T &in)
+{
+	return transform_orientation(in, StaticTF::BASELINK_TO_AIRCRAFT);
+}
+
+/**
+ * @brief Transform from orientation represented in PX4 format to ROS format
+ * PX4 format is aircraft to NED
+ * ROS format is baselink to ENU
+ *
+ * Two steps conversion:
+ * 1. aircraft to NED is converted to aircraft to ENU (NED_to_ENU conversion)
+ * 2. aircraft to ENU is converted to baselink to ENU (baselink_to_aircraft conversion)
+ */
+template <class T> inline T px4_to_ros_orientation(const T &in)
+{
+	return baselink_to_aircraft_orientation(ned_to_enu_orientation(in));
+}
+
+/**
+ * @brief Transform from orientation represented in ROS format to PX4 format
+ * PX4 format is aircraft to NED
+ * ROS format is baselink to ENU
+ *
+ * Two steps conversion:
+ * 1. baselink to ENU is converted to baselink to NED (ENU_to_NED conversion)
+ * 2. baselink to NED is converted to aircraft to NED (aircraft_to_baselink conversion)
+ */
+template <class T> inline T ros_to_px4_orientation(const T &in)
+{
+	return aircraft_to_baselink_orientation(enu_to_ned_orientation(in));
+}
+
+/**
+ * @brief Transform data expressed in NED to ENU local frame.
+ */
+template <class T> inline T ned_to_enu_local_frame(const T &in)
+{
+	return transform_static_frame(in, StaticTF::NED_TO_ENU);
+}
+
+/**
+ * @brief Transform data expressed in ENU to NED frame.
+ */
+template <class T> inline T enu_to_ned_local_frame(const T &in)
+{
+	return transform_static_frame(in, StaticTF::ENU_TO_NED);
+}
+
+/**
+ * @brief Transform data expressed in aircraft body frame to base_link body frame.
+ */
+template <class T> inline T aircraft_to_baselink_body_frame(const T &in)
+{
+	return transform_static_frame(in, StaticTF::AIRCRAFT_TO_BASELINK);
+}
+
+/**
+ * @brief Transform data expressed in base_link body frame to aircraft body frame.
+ */
+template <class T> inline T baselink_to_aircraft_body_frame(const T &in)
+{
+	return transform_static_frame(in, StaticTF::BASELINK_TO_AIRCRAFT);
+}
+
+/**
+ * @brief Transform data expressed in ECEF frame to ENU frame.
+ *
+ * @param in          local ECEF coordinates [m]
+ * @param map_origin  geodetic origin [lla]
+ * @returns local ENU coordinates [m].
+ */
+template <class T> inline T ecef_to_enu_local_frame(const T &in, const T &map_origin)
+{
+	return transform_static_frame(in, map_origin, StaticTF::ECEF_TO_ENU);
+}
+
+/**
+ * @brief Transform data expressed in ENU frame to ECEF frame.
+ *
+ * @param in          local ENU coordinates [m]
+ * @param map_origin  geodetic origin [lla]
+ * @returns local ECEF coordinates [m].
+ */
+template <class T> inline T enu_to_ecef_local_frame(const T &in, const T &map_origin)
+{
+	return transform_static_frame(in, map_origin, StaticTF::ENU_TO_ECEF);
+}
+
+/**
+ * @brief Transform data expressed in aircraft frame to NED frame.
+ * Assumes quaternion represents rotation from aircraft frame to NED frame.
+ */
+template <class T> inline T aircraft_to_ned_frame(const T &in, const Eigen::Quaterniond &q)
+{
+	return transform_frame(in, q);
+}
+
+/**
+ * @brief Transform data expressed in NED to aircraft frame.
+ * Assumes quaternion represents rotation from NED to aircraft frame.
+ */
+template <class T> inline T ned_to_aircraft_frame(const T &in, const Eigen::Quaterniond &q)
+{
+	return transform_frame(in, q);
+}
+
+/**
+ * @brief Transform data expressed in aircraft frame to ENU frame.
+ * Assumes quaternion represents rotation from aircraft frame to ENU frame.
+ */
+template <class T> inline T aircraft_to_enu_frame(const T &in, const Eigen::Quaterniond &q)
+{
+	return transform_frame(in, q);
+}
+
+/**
+ * @brief Transform data expressed in ENU to aircraft frame.
+ * Assumes quaternion represents rotation from ENU to aircraft frame.
+ */
+template <class T> inline T enu_to_aircraft_frame(const T &in, const Eigen::Quaterniond &q)
+{
+	return transform_frame(in, q);
+}
+
+/**
+ * @brief Transform data expressed in baselink to ENU frame.
+ * Assumes quaternion represents rotation from basel_link to ENU frame.
+ */
+template <class T> inline T baselink_to_enu_frame(const T &in, const Eigen::Quaterniond &q)
+{
+	return transform_frame(in, q);
+}
+
+/**
+ * @brief Transform data expressed in ENU to base_link frame.
+ * Assumes quaternion represents rotation from ENU to base_link frame.
+ */
+template <class T> inline T enu_to_baselink_frame(const T &in, const Eigen::Quaterniond &q)
+{
+	return transform_frame(in, q);
+}
+
+} // namespace frame_transforms
+} // namespace px4_ros_com
+
+#endif // FRAME_TRANSFORMS_H

install/px4_ros_com/lib/px4_ros_com/debug_vect_advertiser

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-/home/ubuntu/ros2_ws/build/px4_ros_com/debug_vect_advertiser

install/px4_ros_com/lib/px4_ros_com/offboard_control

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-/home/ubuntu/ros2_ws/build/px4_ros_com/offboard_control

install/px4_ros_com/lib/px4_ros_com/sensor_combined_listener

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-/home/ubuntu/ros2_ws/build/px4_ros_com/sensor_combined_listener

install/px4_ros_com/lib/px4_ros_com/vehicle_gps_position_listener

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-/home/ubuntu/ros2_ws/build/px4_ros_com/vehicle_gps_position_listener

install/px4_ros_com/share/ament_index/resource_index/package_run_dependencies/px4_ros_com

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-/home/ubuntu/ros2_ws/build/px4_ros_com/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/px4_ros_com

install/px4_ros_com/share/ament_index/resource_index/package_run_dependencies/px4_ros_com

@@ -0,0 +1 @@
+eigen;builtin_interfaces;rclcpp;px4_msgs;geometry_msgs;sensor_msgs;launch;launch_testing;launch_testing_ros;eigen3_cmake_module;rosidl_default_runtime;ros2launch;ament_lint_auto;ament_lint_common

install/px4_ros_com/share/ament_index/resource_index/packages/px4_ros_com

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-/home/ubuntu/ros2_ws/build/px4_ros_com/ament_cmake_index/share/ament_index/resource_index/packages/px4_ros_com

install/px4_ros_com/share/ament_index/resource_index/parent_prefix_path/px4_ros_com

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-/home/ubuntu/ros2_ws/build/px4_ros_com/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/px4_ros_com

install/px4_ros_com/share/ament_index/resource_index/parent_prefix_path/px4_ros_com

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+/home/ubuntu/ros2_ws/install/px4_ros_com:/home/ubuntu/ros2_ws/install/px4_msgs:/home/ubuntu/ros2_ws/install/drone_sensors:/home/ubuntu/ros2_ws/install/beacon_positioning:/opt/ros/foxy

install/px4_ros_com/share/colcon-core/packages/px4_ros_com

@@ -1 +1 @@
-builtin_interfaces:eigen:eigen3_cmake_module:geometry_msgs:launch:launch_testing:launch_testing_ros:px4_msgs:rclcpp:rosidl_default_runtime:sensor_msgs
+builtin_interfaces:eigen:eigen3_cmake_module:geometry_msgs:launch:launch_testing:launch_testing_ros:px4_msgs:rclcpp:ros2launch:rosidl_default_runtime:sensor_msgs

install/px4_ros_com/share/px4_ros_com/cmake/EnableC++XX.cmake

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-/home/ubuntu/ros2_ws/src/px4_ros_com/cmake/EnableC++XX.cmake

install/px4_ros_com/share/px4_ros_com/cmake/EnableSanitizers.cmake

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/src/px4_ros_com/cmake/EnableSanitizers.cmake

install/px4_ros_com/share/px4_ros_com/cmake/GenerateMicroRTPSAgent.cmake

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/src/px4_ros_com/cmake/GenerateMicroRTPSAgent.cmake

install/px4_ros_com/share/px4_ros_com/cmake/ament_cmake_export_dependencies-extras.cmake

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/build/px4_ros_com/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake

install/px4_ros_com/share/px4_ros_com/cmake/ament_cmake_export_dependencies-extras.cmake

@@ -0,0 +1,92 @@
+# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
+
+set(_exported_dependencies "ament_cmake;rclcpp;rosidl_default_runtime;eigen3_cmake_module;Eigen3;px4_msgs;geometry_msgs;sensor_msgs")
+
+find_package(ament_cmake_libraries QUIET REQUIRED)
+
+# find_package() all dependencies
+# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS
+# variables to px4_ros_com_DEFINITIONS, px4_ros_com_INCLUDE_DIRS,
+# px4_ros_com_LIBRARIES, and px4_ros_com_LINK_FLAGS.
+# Additionally collect the direct dependency names in
+# px4_ros_com_DEPENDENCIES as well as the recursive dependency names
+# in px4_ros_com_RECURSIVE_DEPENDENCIES.
+if(NOT _exported_dependencies STREQUAL "")
+  find_package(ament_cmake_core QUIET REQUIRED)
+  set(px4_ros_com_DEPENDENCIES ${_exported_dependencies})
+  set(px4_ros_com_RECURSIVE_DEPENDENCIES ${_exported_dependencies})
+  set(_libraries)
+  foreach(_dep ${_exported_dependencies})
+    if(NOT ${_dep}_FOUND)
+      find_package("${_dep}" QUIET REQUIRED)
+    endif()
+    # if a package provides modern CMake interface targets use them
+    # exclusively assuming the classic CMake variables only exist for
+    # backward compatibility
+    set(use_modern_cmake FALSE)
+    if(NOT "${${_dep}_TARGETS}" STREQUAL "")
+      foreach(_target ${${_dep}_TARGETS})
+        # only use actual targets
+        # in case a package uses this variable for other content
+        if(TARGET "${_target}")
+          get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
+          if(_include_dirs)
+            list_append_unique(px4_ros_com_INCLUDE_DIRS "${_include_dirs}")
+          endif()
+
+          get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS)
+          if(_imported_configurations)
+            string(TOUPPER "${_imported_configurations}" _imported_configurations)
+            if(DEBUG_CONFIGURATIONS)
+              string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase)
+            else()
+              set(_debug_configurations_uppercase "DEBUG")
+            endif()
+            foreach(_imported_config ${_imported_configurations})
+              get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config})
+              if(_imported_implib)
+                set(_imported_implib_config "optimized")
+                if(${_imported_config} IN_LIST _debug_configurations_uppercase)
+                  set(_imported_implib_config "debug")
+                endif()
+                list(APPEND _libraries ${_imported_implib_config} ${_imported_implib})
+              else()
+                get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config})
+                if(_imported_location)
+                  list(APPEND _libraries "${_imported_location}")
+                endif()
+              endif()
+            endforeach() 
+          endif()
+
+          get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES)
+          if(_link_libraries)
+            list(APPEND _libraries "${_link_libraries}")
+          endif()
+          set(use_modern_cmake TRUE)
+        endif()
+      endforeach()
+    endif()
+    if(NOT use_modern_cmake)
+      if(${_dep}_DEFINITIONS)
+        list_append_unique(px4_ros_com_DEFINITIONS "${${_dep}_DEFINITIONS}")
+      endif()
+      if(${_dep}_INCLUDE_DIRS)
+        list_append_unique(px4_ros_com_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
+      endif()
+      if(${_dep}_LIBRARIES)
+        list(APPEND _libraries "${${_dep}_LIBRARIES}")
+      endif()
+      if(${_dep}_LINK_FLAGS)
+        list_append_unique(px4_ros_com_LINK_FLAGS "${${_dep}_LINK_FLAGS}")
+      endif()
+      if(${_dep}_RECURSIVE_DEPENDENCIES)
+        list_append_unique(px4_ros_com_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}")
+      endif()
+    endif()
+    if(_libraries)
+      ament_libraries_deduplicate(_libraries "${_libraries}")
+      list(APPEND px4_ros_com_LIBRARIES "${_libraries}")
+    endif()
+  endforeach()
+endif()

install/px4_ros_com/share/px4_ros_com/cmake/ament_cmake_export_include_directories-extras.cmake

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/build/px4_ros_com/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake

install/px4_ros_com/share/px4_ros_com/cmake/ament_cmake_export_include_directories-extras.cmake

@@ -0,0 +1,16 @@
+# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in
+
+set(_exported_include_dirs "${px4_ros_com_DIR}/../../../include")
+
+# append include directories to px4_ros_com_INCLUDE_DIRS
+# warn about not existing paths
+if(NOT _exported_include_dirs STREQUAL "")
+  find_package(ament_cmake_core QUIET REQUIRED)
+  foreach(_exported_include_dir ${_exported_include_dirs})
+    if(NOT IS_DIRECTORY "${_exported_include_dir}")
+      message(WARNING "Package 'px4_ros_com' exports the include directory '${_exported_include_dir}' which doesn't exist")
+    endif()
+    normalize_path(_exported_include_dir "${_exported_include_dir}")
+    list(APPEND px4_ros_com_INCLUDE_DIRS "${_exported_include_dir}")
+  endforeach()
+endif()

install/px4_ros_com/share/px4_ros_com/cmake/ament_cmake_export_libraries-extras.cmake

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/build/px4_ros_com/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake

install/px4_ros_com/share/px4_ros_com/cmake/ament_cmake_export_libraries-extras.cmake

@@ -0,0 +1,140 @@
+# generated from ament_cmake_export_libraries/cmake/template/ament_cmake_export_libraries.cmake.in
+
+set(_exported_libraries "frame_transforms")
+set(_exported_library_names "")
+
+# populate px4_ros_com_LIBRARIES
+if(NOT _exported_libraries STREQUAL "")
+  # loop over libraries, either target names or absolute paths
+  list(LENGTH _exported_libraries _length)
+  set(_i 0)
+  while(_i LESS _length)
+    list(GET _exported_libraries ${_i} _arg)
+
+    # pass linker flags along
+    if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
+      list(APPEND px4_ros_com_LIBRARIES "${_arg}")
+      math(EXPR _i "${_i} + 1")
+      continue()
+    endif()
+
+    if("${_arg}" MATCHES "^(debug|optimized|general)$")
+      # remember build configuration keyword
+      # and get following library
+      set(_cfg "${_arg}")
+      math(EXPR _i "${_i} + 1")
+      if(_i EQUAL _length)
+        message(FATAL_ERROR "Package 'px4_ros_com' passes the build configuration keyword '${_cfg}' as the last exported library")
+      endif()
+      list(GET _exported_libraries ${_i} _library)
+    else()
+      # the value is a library without a build configuration keyword
+      set(_cfg "")
+      set(_library "${_arg}")
+    endif()
+    math(EXPR _i "${_i} + 1")
+
+    if(NOT IS_ABSOLUTE "${_library}")
+      # search for library target relative to this CMake file
+      set(_lib "NOTFOUND")
+      find_library(
+        _lib NAMES "${_library}"
+        PATHS "${px4_ros_com_DIR}/../../../lib"
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+      )
+
+      if(NOT _lib)
+        # warn about not existing library and ignore it
+        message(FATAL_ERROR "Package 'px4_ros_com' exports the library '${_library}' which couldn't be found")
+      elseif(NOT IS_ABSOLUTE "${_lib}")
+        # the found library must be an absolute path
+        message(FATAL_ERROR "Package 'px4_ros_com' found the library '${_library}' at '${_lib}' which is not an absolute path")
+      elseif(NOT EXISTS "${_lib}")
+        # the found library must exist
+        message(FATAL_ERROR "Package 'px4_ros_com' found the library '${_lib}' which doesn't exist")
+      else()
+        list(APPEND px4_ros_com_LIBRARIES ${_cfg} "${_lib}")
+      endif()
+
+    else()
+      if(NOT EXISTS "${_library}")
+        # the found library must exist
+        message(WARNING "Package 'px4_ros_com' exports the library '${_library}' which doesn't exist")
+      else()
+        list(APPEND px4_ros_com_LIBRARIES ${_cfg} "${_library}")
+      endif()
+    endif()
+  endwhile()
+endif()
+
+# find_library() library names with optional LIBRARY_DIRS
+# and add the libraries to px4_ros_com_LIBRARIES
+if(NOT _exported_library_names STREQUAL "")
+  # loop over library names
+  # but remember related build configuration keyword if available
+  list(LENGTH _exported_library_names _length)
+  set(_i 0)
+  while(_i LESS _length)
+    list(GET _exported_library_names ${_i} _arg)
+    # pass linker flags along
+    if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
+      list(APPEND px4_ros_com_LIBRARIES "${_arg}")
+      math(EXPR _i "${_i} + 1")
+      continue()
+    endif()
+
+    if("${_arg}" MATCHES "^(debug|optimized|general)$")
+      # remember build configuration keyword
+      # and get following library name
+      set(_cfg "${_arg}")
+      math(EXPR _i "${_i} + 1")
+      if(_i EQUAL _length)
+        message(FATAL_ERROR "Package 'px4_ros_com' passes the build configuration keyword '${_cfg}' as the last exported target")
+      endif()
+      list(GET _exported_library_names ${_i} _library)
+    else()
+      # the value is a library target without a build configuration keyword
+      set(_cfg "")
+      set(_library "${_arg}")
+    endif()
+    math(EXPR _i "${_i} + 1")
+
+    # extract optional LIBRARY_DIRS from library name
+    string(REPLACE ":" ";" _library_dirs "${_library}")
+    list(GET _library_dirs 0 _library_name)
+    list(REMOVE_AT _library_dirs 0)
+
+    set(_lib "NOTFOUND")
+    if(NOT _library_dirs)
+      # search for library in the common locations
+      find_library(
+        _lib
+        NAMES "${_library_name}"
+      )
+      if(NOT _lib)
+        # warn about not existing library and later ignore it
+        message(WARNING "Package 'px4_ros_com' exports library '${_library_name}' which couldn't be found")
+      endif()
+    else()
+      # search for library in the specified directories
+      find_library(
+        _lib
+        NAMES "${_library_name}"
+        PATHS ${_library_dirs}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+      )
+      if(NOT _lib)
+        # warn about not existing library and later ignore it
+        message(WARNING "Package 'px4_ros_com' exports library '${_library_name}' with LIBRARY_DIRS '${_library_dirs}' which couldn't be found")
+      endif()
+    endif()
+    if(_lib)
+      list(APPEND px4_ros_com_LIBRARIES ${_cfg} "${_lib}")
+    endif()
+  endwhile()
+endif()
+
+# TODO(dirk-thomas) deduplicate px4_ros_com_LIBRARIES
+# while maintaining library order
+# as well as build configuration keywords
+# as well as linker flags

install/px4_ros_com/share/px4_ros_com/cmake/ament_cmake_export_targets-extras.cmake

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/build/px4_ros_com/ament_cmake_export_targets/ament_cmake_export_targets-extras.cmake

install/px4_ros_com/share/px4_ros_com/cmake/ament_cmake_export_targets-extras.cmake

@@ -0,0 +1,27 @@
+# generated from ament_cmake_export_targets/cmake/ament_cmake_export_targets-extras.cmake.in
+
+set(_exported_targets "export_frame_transforms")
+
+# include all exported targets
+if(NOT _exported_targets STREQUAL "")
+  foreach(_target ${_exported_targets})
+    set(_export_file "${px4_ros_com_DIR}/${_target}Export.cmake")
+    include("${_export_file}")
+
+    # extract the target names associated with the export
+    set(_regex "foreach\\((_cmake)?_expected_?[Tt]arget (IN ITEMS )?(.+)\\)")
+    file(
+      STRINGS "${_export_file}" _foreach_targets
+      REGEX "${_regex}")
+    list(LENGTH _foreach_targets _matches)
+    if(NOT _matches EQUAL 1)
+      message(FATAL_ERROR
+        "Failed to find exported target names in '${_export_file}'")
+    endif()
+    string(REGEX REPLACE "${_regex}" "\\3" _targets "${_foreach_targets}")
+    string(REPLACE " " ";" _targets "${_targets}")
+    list(LENGTH _targets _length)
+
+    list(APPEND px4_ros_com_TARGETS ${_targets})
+  endforeach()
+endif()

install/px4_ros_com/share/px4_ros_com/cmake/export_frame_transformsExport-noconfig.cmake

@@ -1,15 +1,15 @@
 #----------------------------------------------------------------
-# Generated CMake target import file for configuration "RELWITHDEBINFO".
+# Generated CMake target import file.
 #----------------------------------------------------------------
 
 # Commands may need to know the format version.
 set(CMAKE_IMPORT_FILE_VERSION 1)
 
-# Import target "px4_ros_com::frame_transforms" for configuration "RELWITHDEBINFO"
-set_property(TARGET px4_ros_com::frame_transforms APPEND PROPERTY IMPORTED_CONFIGURATIONS RELWITHDEBINFO)
+# Import target "px4_ros_com::frame_transforms" for configuration ""
+set_property(TARGET px4_ros_com::frame_transforms APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
 set_target_properties(px4_ros_com::frame_transforms PROPERTIES
-  IMPORTED_LOCATION_RELWITHDEBINFO "${_IMPORT_PREFIX}/lib/libframe_transforms.so"
-  IMPORTED_SONAME_RELWITHDEBINFO "libframe_transforms.so"
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libframe_transforms.so"
+  IMPORTED_SONAME_NOCONFIG "libframe_transforms.so"
   )
 
 list(APPEND _IMPORT_CHECK_TARGETS px4_ros_com::frame_transforms )

install/px4_ros_com/share/px4_ros_com/cmake/px4_ros_comConfig-version.cmake

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/build/px4_ros_com/ament_cmake_core/px4_ros_comConfig-version.cmake

install/px4_ros_com/share/px4_ros_com/cmake/px4_ros_comConfig-version.cmake

@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "0.1.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()

install/px4_ros_com/share/px4_ros_com/cmake/px4_ros_comConfig.cmake

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/build/px4_ros_com/ament_cmake_core/px4_ros_comConfig.cmake

install/px4_ros_com/share/px4_ros_com/cmake/px4_ros_comConfig.cmake

@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_px4_ros_com_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED px4_ros_com_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(px4_ros_com_FOUND FALSE)
+  elseif(NOT px4_ros_com_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(px4_ros_com_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_px4_ros_com_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT px4_ros_com_FIND_QUIETLY)
+  message(STATUS "Found px4_ros_com: 0.1.0 (${px4_ros_com_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "Package 'px4_ros_com' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${px4_ros_com_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(px4_ros_com_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "ament_cmake_export_dependencies-extras.cmake;ament_cmake_export_targets-extras.cmake;ament_cmake_export_include_directories-extras.cmake;ament_cmake_export_libraries-extras.cmake")
+foreach(_extra ${_extras})
+  include("${px4_ros_com_DIR}/${_extra}")
+endforeach()

install/px4_ros_com/share/px4_ros_com/environment/ament_prefix_path.dsv

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/build/px4_ros_com/ament_cmake_environment_hooks/ament_prefix_path.dsv

install/px4_ros_com/share/px4_ros_com/environment/ament_prefix_path.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;

install/px4_ros_com/share/px4_ros_com/environment/ament_prefix_path.sh

@@ -1 +0,0 @@
-/opt/ros/foxy/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh

install/px4_ros_com/share/px4_ros_com/environment/ament_prefix_path.sh

@@ -0,0 +1,4 @@
+# copied from
+# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"

install/px4_ros_com/share/px4_ros_com/environment/library_path.dsv

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/build/px4_ros_com/ament_cmake_environment_hooks/library_path.dsv

install/px4_ros_com/share/px4_ros_com/environment/library_path.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;LD_LIBRARY_PATH;lib

install/px4_ros_com/share/px4_ros_com/environment/library_path.sh

@@ -1 +0,0 @@
-/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/environment_hook/library_path.sh

install/px4_ros_com/share/px4_ros_com/environment/library_path.sh

@@ -0,0 +1,16 @@
+# copied from ament_package/template/environment_hook/library_path.sh
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+if [ $_IS_DARWIN -eq 0 ]; then
+  ament_prepend_unique_value LD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
+else
+  ament_prepend_unique_value DYLD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
+fi
+unset _IS_DARWIN

install/px4_ros_com/share/px4_ros_com/environment/path.dsv

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/build/px4_ros_com/ament_cmake_environment_hooks/path.dsv

install/px4_ros_com/share/px4_ros_com/environment/path.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate-if-exists;PATH;bin

install/px4_ros_com/share/px4_ros_com/environment/path.sh

@@ -1 +0,0 @@
-/opt/ros/foxy/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh

install/px4_ros_com/share/px4_ros_com/environment/path.sh

@@ -0,0 +1,5 @@
+# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
+
+if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
+  ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
+fi

install/px4_ros_com/share/px4_ros_com/hook/path.dsv

@@ -1 +0,0 @@
-prepend-non-duplicate;PATH;bin

install/px4_ros_com/share/px4_ros_com/hook/path.ps1

@@ -1,3 +0,0 @@
-# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
-
-colcon_prepend_unique_value PATH "$env:COLCON_CURRENT_PREFIX\bin"

install/px4_ros_com/share/px4_ros_com/hook/path.sh

@@ -1,3 +0,0 @@
-# generated from colcon_core/shell/template/hook_prepend_value.sh.em
-
-_colcon_prepend_unique_value PATH "$COLCON_CURRENT_PREFIX/bin"

install/px4_ros_com/share/px4_ros_com/hook/pythonscriptspath.dsv

@@ -1 +0,0 @@
-prepend-non-duplicate;PATH;bin

install/px4_ros_com/share/px4_ros_com/hook/pythonscriptspath.ps1

@@ -1,3 +0,0 @@
-# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
-
-colcon_prepend_unique_value PATH "$env:COLCON_CURRENT_PREFIX\bin"

install/px4_ros_com/share/px4_ros_com/hook/pythonscriptspath.sh

@@ -1,3 +0,0 @@
-# generated from colcon_core/shell/template/hook_prepend_value.sh.em
-
-_colcon_prepend_unique_value PATH "$COLCON_CURRENT_PREFIX/bin"

install/px4_ros_com/share/px4_ros_com/launch/offboard_control_launch.yaml

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/src/px4_ros_com/launch/offboard_control_launch.yaml

install/px4_ros_com/share/px4_ros_com/launch/offboard_control_launch.yaml

@@ -0,0 +1,7 @@
+launch:
+
+- node:
+    pkg: "px4_ros_com"
+    exec: "offboard_control"
+    name: "offboard_control"
+    output: "screen"

install/px4_ros_com/share/px4_ros_com/launch/sensor_combined_listener.launch.py

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/src/px4_ros_com/launch/sensor_combined_listener.launch.py

install/px4_ros_com/share/px4_ros_com/launch/sensor_combined_listener.launch.py

@@ -0,0 +1,62 @@
+#!/usr/bin/env python
+
+################################################################################
+#
+# Copyright (c) 2018-2022, 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 of the copyright holder 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 HOLDER 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.
+#
+################################################################################
+
+"""
+Example to launch a sensor_combined listener node.
+"""
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import ExecuteProcess
+
+def generate_launch_description():
+
+    micro_ros_agent = ExecuteProcess(
+        cmd=[[
+            'micro-ros-agent udp4 --port 8888 -v '
+        ]],
+        shell=True
+    )
+
+    sensor_combined_listener_node = Node(
+        package='px4_ros_com',
+        executable='sensor_combined_listener',
+        output='screen',
+        shell=True,
+    )
+
+    return LaunchDescription([
+        #micro_ros_agent,
+        sensor_combined_listener_node
+    ])

install/px4_ros_com/share/px4_ros_com/local_setup.bash

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/build/px4_ros_com/ament_cmake_environment_hooks/local_setup.bash

install/px4_ros_com/share/px4_ros_com/local_setup.bash

@@ -0,0 +1,46 @@
+# generated from ament_package/template/package_level/local_setup.bash.in
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX

install/px4_ros_com/share/px4_ros_com/local_setup.dsv

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/build/px4_ros_com/ament_cmake_environment_hooks/local_setup.dsv

install/px4_ros_com/share/px4_ros_com/local_setup.dsv

@@ -0,0 +1,3 @@
+source;share/px4_ros_com/environment/ament_prefix_path.sh
+source;share/px4_ros_com/environment/library_path.sh
+source;share/px4_ros_com/environment/path.sh

install/px4_ros_com/share/px4_ros_com/local_setup.sh

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/build/px4_ros_com/ament_cmake_environment_hooks/local_setup.sh

install/px4_ros_com/share/px4_ros_com/local_setup.sh

@@ -0,0 +1,134 @@
+# generated from ament_package/template/package_level/local_setup.sh.in
+
+# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
+# or fall back to the destination set at configure time
+: ${AMENT_CURRENT_PREFIX:="/home/ubuntu/ros2_ws/install/px4_ros_com"}
+if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
+  if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+    echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
+      "exist. Consider sourcing a different extension than '.sh'." 1>&2
+  else
+    AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+  fi
+fi
+
+# function to append values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # avoid leading separator
+  eval _values=\"\$$_listname\"
+  if [ -z "$_values" ]; then
+    eval export $_listname=\"$_value\"
+    #eval echo "set list \$$_listname"
+  else
+    # field separator must not be a colon
+    _ament_append_value_IFS=$IFS
+    unset IFS
+    eval export $_listname=\"\$$_listname:$_value\"
+    #eval echo "append list \$$_listname"
+    IFS=$_ament_append_value_IFS
+    unset _ament_append_value_IFS
+  fi
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# function to prepend non-duplicate values to environment variables
+# using colons as separators and avoiding trailing separators
+ament_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # check if the list contains the value
+  eval _values=\"\$$_listname\"
+  _duplicate=
+  _ament_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array _values
+  fi
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    if [ "$_item" = "$_value" ]; then
+      _duplicate=1
+    fi
+  done
+  unset _item
+
+  # prepend only non-duplicates
+  if [ -z "$_duplicate" ]; then
+    # avoid trailing separator
+    if [ -z "$_values" ]; then
+      eval export $_listname=\"$_value\"
+      #eval echo "set list \$$_listname"
+    else
+      # field separator must not be a colon
+      unset IFS
+      eval export $_listname=\"$_value:\$$_listname\"
+      #eval echo "prepend list \$$_listname"
+    fi
+  fi
+  IFS=$_ament_prepend_unique_value_IFS
+  unset _ament_prepend_unique_value_IFS
+  unset _duplicate
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# list all environment hooks of this package
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/px4_ros_com/environment/ament_prefix_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/px4_ros_com/environment/library_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/px4_ros_com/environment/path.sh"
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
+  fi
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    if [ -f "$_hook" ]; then
+      # restore IFS before sourcing other files
+      IFS=$_package_local_setup_IFS
+      # trace output
+      if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+        echo "# . \"$_hook\""
+      fi
+      . "$_hook"
+    fi
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX

install/px4_ros_com/share/px4_ros_com/local_setup.zsh

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/build/px4_ros_com/ament_cmake_environment_hooks/local_setup.zsh

install/px4_ros_com/share/px4_ros_com/local_setup.zsh

@@ -0,0 +1,59 @@
+# generated from ament_package/template/package_level/local_setup.zsh.in
+
+AMENT_SHELL=zsh
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# function to convert array-like strings into arrays
+# to wordaround SH_WORD_SPLIT not being set
+ament_zsh_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX

install/px4_ros_com/share/px4_ros_com/package.dsv

@@ -4,12 +4,6 @@ source;share/px4_ros_com/hook/cmake_prefix_path.sh
 source;share/px4_ros_com/hook/ld_library_path_lib.ps1
 source;share/px4_ros_com/hook/ld_library_path_lib.dsv
 source;share/px4_ros_com/hook/ld_library_path_lib.sh
-source;share/px4_ros_com/hook/path.ps1
-source;share/px4_ros_com/hook/path.dsv
-source;share/px4_ros_com/hook/path.sh
-source;share/px4_ros_com/hook/pythonscriptspath.ps1
-source;share/px4_ros_com/hook/pythonscriptspath.dsv
-source;share/px4_ros_com/hook/pythonscriptspath.sh
 source;share/px4_ros_com/local_setup.bash
 source;share/px4_ros_com/local_setup.dsv
 source;share/px4_ros_com/local_setup.ps1

install/px4_ros_com/share/px4_ros_com/package.ps1

@@ -112,8 +112,6 @@ $env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.Ful
 
 colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/px4_ros_com/hook/cmake_prefix_path.ps1"
 colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/px4_ros_com/hook/ld_library_path_lib.ps1"
-colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/px4_ros_com/hook/path.ps1"
-colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/px4_ros_com/hook/pythonscriptspath.ps1"
 colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/px4_ros_com/local_setup.ps1"
 
 Remove-Item Env:\COLCON_CURRENT_PREFIX

install/px4_ros_com/share/px4_ros_com/package.sh

@@ -80,8 +80,6 @@ _colcon_package_sh_source_script() {
 # source sh hooks
 _colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/px4_ros_com/hook/cmake_prefix_path.sh"
 _colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/px4_ros_com/hook/ld_library_path_lib.sh"
-_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/px4_ros_com/hook/path.sh"
-_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/px4_ros_com/hook/pythonscriptspath.sh"
 _colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/px4_ros_com/local_setup.sh"
 
 unset _colcon_package_sh_source_script

install/px4_ros_com/share/px4_ros_com/package.xml

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/src/px4_ros_com/package.xml

install/px4_ros_com/share/px4_ros_com/package.xml

@@ -0,0 +1,42 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>px4_ros_com</name>
+  <version>0.1.0</version>
+  <description>Package to interface ROS 2 with PX4</description>
+
+  <maintainer email="nuno.marques@dronesolutions.io">Nuno Marques</maintainer>
+  <author email="nuno.marques@dronesolutions.io">Nuno Marques</author>
+
+  <license>BSD 3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>eigen3_cmake_module</buildtool_depend>
+
+  <build_depend>eigen</build_depend>
+  <build_depend>ros_environment</build_depend>
+
+  <depend>builtin_interfaces</depend>
+  <depend>rclcpp</depend>
+
+  <depend>px4_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>sensor_msgs</depend>
+
+  <depend>launch</depend>
+  <depend>launch_testing</depend>
+  <depend>launch_testing_ros</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>ros2launch</exec_depend>
+
+  <buildtool_export_depend>eigen3_cmake_module</buildtool_export_depend>
+  <build_export_depend>eigen</build_export_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

install/px4_ros_com/share/px4_ros_com/test/__init__.py

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/src/px4_ros_com/test/__init__.py

install/px4_ros_com/share/px4_ros_com/test/pipeline_io_test.py

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/src/px4_ros_com/test/pipeline_io_test.py

install/px4_ros_com/share/px4_ros_com/test/pipeline_io_test.py

@@ -0,0 +1,167 @@
+#!/usr/bin/env python3
+
+################################################################################
+#
+#   Copyright 2019 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 of the copyright holder 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 HOLDER 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.
+#
+################################################################################
+
+# This script launches the microRTPS bridge pipeline to verify if there is
+# data being exchanged between the flight controller (in SITL) and companion
+# computer side, with its DDS participants
+
+import argparse
+import os
+from time import sleep
+from sys import exit
+from subprocess import call, CalledProcessError, check_output, DEVNULL, Popen, STDOUT
+
+if __name__ == "__main__":
+
+    default_px4_ros_com_install_dir = os.path.expanduser("~") + "/PX4/px4_ros2_ws/install"
+    default_px4_dir = os.path.expanduser("~") + "/PX4/Firmware"
+    default_px4_target = "iris_rtps"
+    default_test_dir = os.path.dirname(os.path.realpath(__file__))
+    default_test_type = "fcu_output"
+    default_subscriber_topic = "sensor_combined"
+    default_publisher_topic = "debug_vect"
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument("-d", "--test-dir", dest='test_dir', type=str,
+                        help="Absolute path to test script", default=default_test_dir)
+    parser.add_argument("-f", "--px4-firmware-dir", dest='px4_dir', type=str,
+                        help="Absolute path to PX4 Firmware dir, defaults to $HOME/PX4/Firmware", default=default_px4_dir)
+    parser.add_argument("-b", "--px4-build-target", dest='px4_target', type=str,
+                        help="PX4 SITL target, defaults to iris_rtps", default=default_px4_target)
+    parser.add_argument("-t", "--test-type", dest='test_type', type=str,
+                        help="Test type [fcu_input, fcu_output], defaults to 'fcu_output'", default=default_test_type)
+    parser.add_argument("-s", "--subscriber", dest='subscriber_topic', type=str,
+                        help="ROS2 topic to test, defaults to 'sensor_combined'", default=default_subscriber_topic)
+    parser.add_argument("-p", "--publisher", dest='publisher_topic', type=str,
+                        help="ROS2 publisher data, meaning the data to be received on the flight controller side, defaults to 'debug_vect'", default=default_publisher_topic)
+
+    # Parse arguments
+    args = parser.parse_args()
+    if os.path.isabs(args.px4_dir):
+        px4_dir = args.px4_dir
+    else:
+        raise Exception("Please provide PX4 Firmware absolute path")
+    px4_target = args.px4_target
+    test_dir = args.test_dir
+    test_type = args.test_type
+    listener = args.subscriber_topic
+    advertiser = args.publisher_topic
+
+    # get ROS distro
+    ros_distro = check_output("rosversion -d", shell=True)
+
+    # get PX4 Firmware tag
+    px4_tag = check_output(
+        "cd " + px4_dir + " && git describe --abbrev=0 && cd " + os.getcwd(), shell=True)
+
+    print(
+        "\n\033[34m-------------- PX4 XRCE-DDS COMMUNICATION TEST --------------\033[0m")
+    print("\n-- Test configuration:\n")
+    print("    > ROS 2 distro: \033[36m" +
+          str(ros_distro.strip().decode("utf-8")).capitalize() + "\033[0m")
+    print("    > PX4 Firmware: \033[36m" + px4_tag.decode() + "\033[0m")
+    print("\033[5m-- Running " + ("Output test" if(test_type ==
+                                                   "fcu_output") else "Input test") + "...\033[0m")
+
+    # launch the micro-ros-agent
+    print("\n\033[93m-- Starting micro-ros-agent..." + "\033[0m\n")
+    call("micro-ros-agent udp4 --port 2019 &", shell=True, stderr=STDOUT)
+
+    # waits for the agent to load
+    sleep(3)
+
+    # launch PX4 SITL daemon, in headless mode
+    print(
+        "\n\033[93m-- Starting the PX4 SITL daemon and Gazebo (without GUI)...\033[0m\n")
+    call("cd " + px4_dir + " && (NO_PXH=1 HEADLESS=1 make px4_sitl_default gazebo_" +
+         px4_target + " &) && cd " + os.getcwd(), shell=True, stderr=DEVNULL)
+
+    # waits for PX4 daemon and Gazebo to load
+    sleep(20)
+
+    # setup the PX4 SITL bin dir
+    px4_bin_dir = os.path.join(px4_dir, "build/px4_sitl_default/bin")
+
+    # launch the specified test
+    topic = ""
+    test_format = list()
+    test_result = -1
+
+    if(test_type == "fcu_output"):
+        # Flight controller output tests
+        if (listener == "sensor_combined"):
+            node = "sensor_combined_listener"
+            topic = "sensor_combined"
+            test_format = ["output", "from"]
+            test_result = call(
+                "python3 " + test_dir + "/test_output.py -t " + topic.replace("_", " ").title().replace(" ", ""), stderr=STDOUT, shell=True,
+                universal_newlines=True)
+
+    elif(test_type == "fcu_input"):
+        # Flight controller input tests
+        if (advertiser == "debug_vect"):
+            package_name = "px4_ros_com"
+            node = "debug_vect_advertiser"
+            topic = "debug_vect"
+            test_format = ["input", "on"]
+            test_result = call(
+                "python3 " + test_dir + "/test_input.py -b " + px4_bin_dir + " -p " + package_name + " -n " + node + " -t " + topic, stderr=STDOUT, shell=True,
+                universal_newlines=True)
+        elif (advertiser == "onboard_computer_status"):
+            # specific test for https://github.com/Auterion/system_monitor_ros
+            package_name = "system_monitor_ros"
+            node = "system_monitor_node"
+            topic = "onboard_computer_status"
+            test_format = ["input", "on"]
+            test_result = call(
+                "python3 " + test_dir + "/test_input.py -b " + px4_bin_dir + " -p " + package_name + " -n " + node + " -t " + topic, stderr=STDOUT, shell=True,
+                universal_newlines=True)
+
+    call("killall gzserver micro-ros-agent px4 ros2",
+         shell=True, stdout=DEVNULL, stderr=DEVNULL)
+
+    print(
+        "\033[34m------------------------ TEST RESULTS ------------------------\033[0m")
+    if (test_result):
+        print("\033[91m" + ("Output test" if(test_type == "fcu_output") else "Input test") + ": [FAILED]\tFlight controller " + test_format[0] + " test failed! Failed to get data " + test_format[1] + " the '" +
+              topic + "' uORB topic\033[0m")
+        print(
+            "\033[34m" + "--------------------------------------------------------------" + "\033[0m\n")
+        exit(1)
+    else:
+        print("\033[92m" + ("Output test" if(test_type == "fcu_output") else "Input test") + ": [SUCCESS]\tFlight controller " + test_format[0] + " test successfull! Successfully retrieved data " + test_format[1] + " the '" +
+              topic + "' uORB topic\033[0m")
+        print(
+            "\033[34m--------------------------------------------------------------" + "\033[0m\n")
+        exit(0)

install/px4_ros_com/share/px4_ros_com/test/test_input.py

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/src/px4_ros_com/test/test_input.py

install/px4_ros_com/share/px4_ros_com/test/test_input.py

@@ -0,0 +1,84 @@
+#!/usr/bin/env python3
+
+################################################################################
+#
+#   Copyright 2019 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 of the copyright holder 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 HOLDER 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.
+#
+################################################################################
+
+# This script tests the input data on a specific topic using the "listener"
+# app in PX4. If no output comes or there's a "never published" output
+# out of the app, the test fails.
+
+import argparse
+import os
+from sys import exit
+from subprocess import call, check_output, DEVNULL
+from time import sleep
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("-b", "--px4-binary-dir", dest='px4_binary', type=str,
+                        help="Directory where the PX4 SITL daemon binaries are stored", required=True)
+    parser.add_argument("-n", "--node-name", dest='node_name', type=str,
+                        help="Name of the node publishing the to the topic", required=True)
+    parser.add_argument("-p", "--package-name", dest='package_name', type=str,
+                        help="ROS 2 package name of the node", required=True)
+    parser.add_argument("-t", "--topic-name", dest='topic_name', type=str,
+                        help="Topic name to test the output to the autopilot", required=True)
+
+    # Parse arguments
+    args = parser.parse_args()
+
+    test_cmd = "/bin/bash -c '" + \
+        os.path.join(args.px4_binary,
+                     "px4-listener") + " " + args.topic_name + "'"
+
+    print("\n\033[93m-- " + args.topic_name +
+          " uORB data test launched:\033[0m")
+    # start the ROS 2 node
+    call("ros2 run " + args.package_name + " " + args.node_name + " &", shell=True)
+
+    sleep(3)
+
+    # call the 'listener' command for the '<topic_name>' uORB topic
+    output = check_output(test_cmd, shell=True, universal_newlines=True)
+
+    call("killall " + args.node_name,
+         shell=True, stdout=DEVNULL, stderr=DEVNULL)
+
+    if output and "never published" not in output:
+        print(
+            "\n\033[42m-- Successfully obtained data on '" + args.topic_name + "' uORB topic. microRTPS bridge is up! Output:\033[0m")
+        print("\033[97m" + output + "\033[0m")
+        exit(0)
+    else:
+        print(
+            "\n\033[41m-- Something went wrong. Please check if the microRTPS bridge is functioning correctly.\033[0m\n")
+        exit(1)

install/px4_ros_com/share/px4_ros_com/test/test_output.py

@@ -1 +0,0 @@
-/home/ubuntu/ros2_ws/src/px4_ros_com/test/test_output.py

install/px4_ros_com/share/px4_ros_com/test/test_output.py

@@ -0,0 +1,71 @@
+#!/usr/bin/env python3
+
+################################################################################
+#
+#   Copyright 2019 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 of the copyright holder 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 HOLDER 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.
+#
+################################################################################
+
+# This script tests the output of 'ros2 topic echo /<TopicName>'
+# to evaluate if there's data output coming out of it. If the log output file
+# is empty, means that there's no output on the topic, so the test fails
+
+import argparse
+from os import remove
+from sys import exit
+from subprocess import call, TimeoutExpired
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("-t", "--topic-name", dest='topic_name', type=str,
+                        help="Topic name to test the output to the autopilot", required=True)
+
+    # Parse arguments
+    args = parser.parse_args()
+
+    timeout = 3  # seconds
+
+    try:
+        print(
+            "\n\033[93m" + "-- " + args.topic_name + "_PubSubTopic output test launched:\033[0m")
+        call("ros2 topic echo /" + args.topic_name + "_PubSubTopic", timeout=timeout, stdout=open(
+            "ros2_topic_echo_out", "w"), shell=True)
+    except TimeoutExpired as e:
+        output = open("ros2_topic_echo_out", "r").read()
+        if output:
+            print(
+                "\n\033[42m" + "-- Successfully obtained data on " + args.topic_name + "_PubSubTopic topic. microRTPS bridge is up! Output:\033[0m\n\n")
+            print("\033[97m" + output + "\033[0m")
+            remove("ros2_topic_echo_out")
+            exit(0)
+        else:
+            print(
+                "\n\033[41m" + "-- Something went wrong. Please check if the microRTPS bridge is functioning correctly.\033[0m\n")
+            remove("ros2_topic_echo_out")
+            exit(1)