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add mav_comm
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‎mav_comm/.clang-format

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BasedOnStyle: Google
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DerivePointerAlignment: true

‎mav_comm/README.md

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mav_comm
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========
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This repository contains message and service definitions used for mavs. All future message definitions go in here, existing ones in other stacks should be moved here where possible.

‎mav_comm/mav_comm/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package mav_comm
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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3.3.3 (2019-08-16)
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------------------
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* Add 6DOF trajectory compatibility.
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* See mav_msgs and mav_planning_msgs changelogs for details.
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3.3.2 (2018-08-22)
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------------------
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* Fix indigo eigen3 compatibility.
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3.3.1 (2018-08-21)
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------------------
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* Change maintainer.
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* Add dependencies, see planning_msgs changelog for details.
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3.3.0 (2018-08-17)
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------------------
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* More utilities and lower level UAV kinematics, see mav_msgs changelog for details.
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* 2D polygon planning msgs, see planings_msgs changelog for details.
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3.1.0 (2016-12-01)
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------------------
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* More helper functions, see mav_msgs changelog for details.
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3.0.0 (2015-08-09)
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------------------
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* Changed API for mav_msgs, see mav_msgs changelog for details.
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2.0.3 (2015-05-22)
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------------------

‎mav_comm/mav_comm/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(mav_comm)
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find_package(catkin REQUIRED)
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catkin_metapackage()

‎mav_comm/mav_comm/package.xml

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<package>
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<name>mav_comm</name>
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<version>3.3.3</version>
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<description>Contains messages and services for MAV communication</description>
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<maintainer email="[email protected]">Rik Bähnemann</maintainer>
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<author>Simon Lynen</author>
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<author>Markus Achtelik</author>
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<author>Pascal Gohl</author>
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<author>Sammy Omari</author>
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<author>Michael Burri</author>
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<author>Fadri Furrer</author>
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<author>Helen Oleynikova</author>
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<author>Mina Kamel</author>
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<author>Karen Bodie</author>
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<author>Rik Bähnemann</author>
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<license>ASL 2.0</license>
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<url type="website">https://github.com/ethz-asl/mav_comm</url>
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<url type="bugtracker">https://github.com/ethz-asl/mav_comm/issues</url>
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<!-- Dependencies which this package needs to build itself. -->
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<buildtool_depend>catkin</buildtool_depend>
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<!-- Dependencies needed after this package is compiled. -->
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<run_depend>mav_msgs</run_depend>
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<run_depend>mav_planning_msgs</run_depend>
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<run_depend>mav_state_machine_msgs</run_depend>
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<run_depend>mav_system_msgs</run_depend>
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<export>
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<metapackage/>
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</export>
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</package>

‎mav_comm/mav_msgs/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package mav_msgs
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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3.3.3 (2019-08-16)
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------------------
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* Add `degrees_of_freedom` to EigenTrajectoryPoint for 6DOF compatibility.
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* Add functions to common.h:
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* skewMatrixFromVector, vectorFromSkewMatrix, isRotationMatrix,
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* matrixFromRotationVector, vectorFromRotationMatrix, omegaFromRotationVector
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* omegaDotFromRotationVector
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3.3.2 (2018-08-22)
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------------------
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* Fix indigo eigen3 compatibility.
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3.3.1 (2018-08-21)
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------------------
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* Fix Eigen3 warning. Migration from Jade.
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* Change maintainer.
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3.3.0 (2018-08-17)
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------------------
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* Add time conversion utilities.
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* Add motor position and force default topics.
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* Add conversion from pose message to Eigen trajectory point.
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* Add angular accelerations as member of EigenMavState to calculate motor speeds.
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* Contributors: Helen Oleynikova, Karen Bodie, Rik Bähnemann
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3.2.0 (2017-03-02)
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------------------
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* Access covariance in eigen odometry
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* External force default topic
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* External wind speed default topic
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3.1.0 (2016-12-01)
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------------------
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* Add getEulerAngles method to EigenOdometry message.
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* Improved quaternionFromMsg unit quaternion checking.
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* Add EigenMavState to eigen_mav_msgs.
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* Add EigenMavStateFromEigenTrajectoryPoint conversion.
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* Add `timestamp_ns` to EigenTrajectoryPoint.
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* Add default values in a seperate header.
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* Add in_air bool to Status.msg.
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* Add many helper function to calculate earth gravitational field based on hight and latitude, get euler angles from quaternion and shortest distance between two yaw angles.
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* Contributors: Mina Kamel, Helen Oleynikova, Michael Burri
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3.0.0 (2015-08-09)
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------------------
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* Dropped "Command" from the names of all messages.
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* Converted CommandPositionYawTrajectory message to MultiDOFJointTrajectory (with an additional option to use a geometry_msgs/PoseStamped instead) as the two ways to send trajectory/waypoint commands.
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* Added conversions between the Eigen and ROS message types.
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* Switched to using full orientation instead of just yaw where appropriate.
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* Documented reference frame in the Eigen messages where possible.
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* Contributors: Helen Oleynikova, Markus Achtelik
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2.0.3 (2015-05-22)
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------------------
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* added install target for include
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Headers can be included outside of this package.
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* Contributors: Fadri Furrer

‎mav_comm/mav_msgs/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(mav_msgs)
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find_package(catkin REQUIRED message_generation std_msgs geometry_msgs trajectory_msgs nav_msgs)
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include_directories(include ${catkin_INCLUDE_DIRS})
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find_package(Eigen3 QUIET)
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if(NOT EIGEN3_FOUND)
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# ROS == Indigo.
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find_package(cmake_modules REQUIRED)
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find_package(Eigen REQUIRED)
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set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
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else()
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# ROS > Indigo.
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set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
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endif()
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add_definitions(-std=c++11)
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add_message_files(
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FILES
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Actuators.msg
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AttitudeThrust.msg
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RateThrust.msg
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RollPitchYawrateThrust.msg
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TorqueThrust.msg
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Status.msg
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FilteredSensorData.msg
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GpsWaypoint.msg
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)
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generate_messages(DEPENDENCIES std_msgs geometry_msgs nav_msgs)
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catkin_package(
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INCLUDE_DIRS include ${EIGEN3_INCLUDE_DIRS}
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CATKIN_DEPENDS message_runtime std_msgs geometry_msgs trajectory_msgs nav_msgs
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CFG_EXTRAS export_flags.cmake
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)
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install(
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DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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)

‎mav_comm/mav_msgs/cmake/export_flags.cmake

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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
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