ROS Noetic compatibility checklist

[klaxalk]

We have started the ROS Noetic upgrade. Here is the checklist of stuff that needs to happen:

Automated install scripts should work on both 18.04 and 20.04:

• [x] uav_core install script
• [x] simulation install script
• [x] mrs_uav_system install script
• [x] linux_setup install script

Compilation compatibility:

• [x] uav_core compiles
• [x] simulation compiles
• [x] mrs_uav_system compiles
• [x] mrs_uav_system runs (https://github.com/ros/nodelet_core/issues/106, https://github.com/ros/ros_comm/issues/2085)

Simulation compatibility:

• [x] mrs_gazebo_common_resources compiles
• [x] px4/sitl_gazebo compiles
• [x] a drone can be spawned

When all compiles and runs:

• [x] update readmes and documentation to contain both 18.04 and 20.04 Ubuntu versions and Melodic and Noetic ROS

[klaxalk]

We are currently stuck with building the px4/sitl_gazebo. The problem is with the Mavlink protocol. We have in total 3 programs which rely on Mavlink:

• Mavros
• px4/firmware
• px4/sitl_gazebo

We compile Mavlink ourselves and we can choose whatever version suits us. However, we weren't able to find a single version that would currently work with all three simultaneously, given the px4/sitl_gazebo is updated to the latest version (as of today, 2020/06/25). Sadly, the authors of px4/sitl_gazebo do not state for which version is their current master prepared. But since it looks like they are actively working on it, let's wait for them to update to Gazebo 11.

[dookei]

Hi @klaxalk I have used v1.11.0 release with Gazebo 11 without any issue.

[spurnvoj]

@klaxalk As the backup solution for people under Ubuntu 20.04, mavros can be installed using apt. That seems to work :)

[klaxalk]

@dookei it is ok now, we are able to compile everything. However, now there is a problem with running things. We struggle with ros::Timers, which refuse to run of their rate is over 10 Hz. Will need some debugging.

Our issue at ros_comm: https://github.com/ros/ros_comm/issues/2085