Update Mavlink msgs

[TSC21]

mavlink/c_library@23a8961. New msg definitions!

Some updates:

Mandatory:

• [x] LOCAL_NED_POSITION_SETPOINT_EXTERNAL to SET_POSITION_TARGET_LOCAL_NED
• [x] ATTITUDE_SETPOINT_EXTERNAL to SET_ATTITUDE_TARGET

Optional:

• [ ] LOCAL_POSITION_NED to LOCAL_POSITION_NED_COV
• [ ] GLOBAL_POSITION_INT to GLOBAL_POSITION_INT_COV
• [ ] ATTITUDE_QUATERNION to ATTITUDE_QUATERNION_COV

Without the first ones is not possible to test setpoints. Does the ros-*-mavlink will be getting the new message definitions?

[vooon]

But no new required for 0.7 messages. Will update after releasing 0.7.

[vooon]

So it required for setpoint plugins? Ok then i release it now.

[TSC21]

So it required for setpoint plugins? Ok then i release it now.

Yes. The offboard2_externalsetpointmessages PX4 Firmware branch will get the new messages soon, so we must be able to send this msgs when it's out.

[vooon]

But releasing new version will break our builds until deb sync.

[TSC21]

Can you get it in a dev branch? Then we try new mavlink by downloading it to a local usr folder and chnage it's path on CMakeList.txt. Can you add the steps to do this in the dev branch Readme.md you create?

How much time does it usually take to deb sync?

[vooon]

I can't predict when it updates (wiki says 1-2 weeks). And, no master is development branch. But you can manually install new debs from shadow repo.

[TSC21]

But you can manually install new debs from shadow repo.

How to then? We will need this working so better start now.

[vooon]

Released. And merged to ros distros.

Stable repo: http://packages.ros.org/ros/ubuntu/pool/main/r/ros-hydro-mavlink/ Unstable: http://packages.ros.org/ros-shadow-fixed/ubuntu/pool/main/r/ros-hydro-mavlink/

[TSC21]

Stable repo: http://packages.ros.org/ros/ubuntu/pool/main/r/ros-hydro-mavlink/ Unstable: http://packages.ros.org/ros-shadow-fixed/ubuntu/pool/main/r/ros-hydro-mavlink/

So what's the procedure now to install it? Can we use wstool? What does change in the install tutorial?

[vooon]

Source install have no change. For few days/weeks need manually download and install deb (for x86) from shadow repository.

[TSC21]

@vooon what's the difference between the two above link repos? They seem both to have the previous sub version of mavlink.

[vooon]

First is stable, it sometimes synchronize with "shadow" repo, where jenkins store build result. Shadow repo will update soon.

[TSC21]

Ok. So after the shadow update we download the file and do sudo dpkg -i <ros-hydro-mavlink_...>, right?

[vooon]

Right. Or build it from source (dh binary notes) if it not arrives soon.

[TSC21]

Ok. In the meantime I think I have already checked what should be and what could be optionally modified or added to the code. But probably it's better you check out the new definitions by yourself and see what must and could be modified.

[vooon]

Just update (build deb from source), and build is broken, but in unexpected place:

/opt/ros/indigo/include/mavlink/v1.0/pixhawk/../checksum.h:2:10: error: expected unqualified-id before string constant
 extern "C" {

[TSC21]

Well if it is a build problem or we check it ourselves or we inform about it in mavlink/c_library@23a8961. What's the next step?

[vooon]

First i must find the source.

[vooon]

Found two issues: https://github.com/mavlink/mavlink/issues/232 and https://github.com/mavlink/mavlink/issues/233 .

While 232 is trivial (and already fixed), 233 require some time.

[vooon]

All closed, and i release hotfix packages for ros.

[vooon]

Done today my first fligth... maximum fligth time ~30 sec.

[TSC21]

All closed, and i release hotfix packages for ros.

Checked! :+1:

What's the next step then?

Done today my first fligth... maximum fligth time ~30 sec.

With your Bixler? Doesn't seem bad at all for a first fligh ;)

[vooon]

Required changes for 0.7 done. Handling additional messages goes to 0.8.

[TSC21]

Checked :+1: what's next then?

[vooon]

100. Woohoo first hundred issues.

[TSC21]

@vooon I want to update to the new mavlink sub-ver. How can I do that? I clone from https://github.com/mavlink/mavlink and then how do I add the content to the mavlink ROS folder? It's a noob question I know but I want to set this up quickly. Thanks!

[TSC21]

Oh wait: shadow repo seems to be updated! Gonna try it then!

Update: Done! mavros build perfectly ;)

[TSC21]

Another good update: mavros with new mavlink sub-rev4 builds perfectly on the Odroid too! :+1:

So, ARM platform also tested and approved!

[vooon]

I think we may close this issue. Maybe better use new message for complete IMU+ATTITUDE data in one piece.