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mavlink / mavros

MAVLink to ROS gateway with proxy for Ground Control Station
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Gimbal protocol v2 plugin - addressing PR comments #1953

Closed Crowdedlight closed 3 months ago

Crowdedlight commented 4 months ago

Addressing the PR comments from #1825 to help get the work done by Mark-Beaty merged in.

Copied in his PR description here:

This plugin has been tested with ROS2 Foxy and Humble and everything appears to be working correctly. Certain services and topics haven't been observed as working due to limitations of my testing hardware (Freefly Astro) and software (Auterion Simulator), but everything follows the documentation currently available for MAVLink's Gimbal Protocol v2. I also plan on adding another branch on my fork with the plugin separate from Mavros to enable use as a standalone plugin prior to the PR being approved/incorporated in a release.

Crowdedlight commented 4 months ago

@vooon I addressed most of the comments you left on #1825 , but I have a few questions to some of them. I copy-pasted them over here and added them as comments above with my questions to them too. :)

Crowdedlight commented 3 months ago

Thanks for fixing the last parts and getting it merged! Much Appricated :)

I had some priority work dumped on me at work and busy weekends so had to postpone it. Sorry about that!

vooon commented 3 months ago

@Crowdedlight thank you too. When you have time, please test it, as i didn't have all required things to setup an environment.

Crowdedlight commented 3 months ago

@Crowdedlight thank you too. When you have time, please test it, as i didn't have all required things to setup an environment.

I just tested part of the release in simulation. I found no errors. Gimbal moves as I expect sending the quaternion to it with this topic. image

And Using the service to take control over the gimbal with /mavros/gimbal_control/manager/configure works as well. Due to other commitments I have not had time to go through all the services and topics, but at least these work which should give you full gimbal attitude control. :)