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m---------Tools/gencpp0
m---------Tools/genmsg0
-rwxr-xr-xTools/px_generate_uorb_topic_headers.py149
-rwxr-xr-xTools/ros/px4_ros_installation_ubuntu.sh40
-rwxr-xr-xTools/ros/px4_workspace_create.sh8
-rwxr-xr-xTools/ros/px4_workspace_setup.sh31
6 files changed, 228 insertions, 0 deletions
diff --git a/Tools/gencpp b/Tools/gencpp
new file mode 160000
+Subproject 26a86f04bcec0018af6652b3ddd3f680e6e3fa2
diff --git a/Tools/genmsg b/Tools/genmsg
new file mode 160000
+Subproject 72f0383f0e6a489214c51802ae12d6e271b1e45
diff --git a/Tools/px_generate_uorb_topic_headers.py b/Tools/px_generate_uorb_topic_headers.py
new file mode 100755
index 000000000..2ddbd6984
--- /dev/null
+++ b/Tools/px_generate_uorb_topic_headers.py
@@ -0,0 +1,149 @@
+#!/usr/bin/env python
+#############################################################################
+#
+# Copyright (C) 2013-2014 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 PX4 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 OWNER 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.
+#
+#############################################################################
+
+"""
+px_generate_uorb_topic_headers.py
+Generates c/cpp header files for uorb topics from .msg (ROS syntax)
+message files
+"""
+from __future__ import print_function
+import os
+import shutil
+import filecmp
+import argparse
+import genmsg.template_tools
+
+__author__ = "Thomas Gubler"
+__copyright__ = "Copyright (C) 2013-2014 PX4 Development Team."
+__license__ = "BSD"
+__email__ = "thomasgubler@gmail.com"
+
+
+msg_template_map = {'msg.h.template': '@NAME@.h'}
+srv_template_map = {}
+incl_default = ['std_msgs:./msg/std_msgs']
+package = 'px4'
+
+
+def convert_file(filename, outputdir, templatedir, includepath):
+ """
+ Converts a single .msg file to a uorb header
+ """
+ print("Generating uORB headers from {0}".format(filename))
+ genmsg.template_tools.generate_from_file(filename,
+ package,
+ outputdir,
+ templatedir,
+ includepath,
+ msg_template_map,
+ srv_template_map)
+
+
+def convert_dir(inputdir, outputdir, templatedir):
+ """
+ Converts all .msg files in inputdir to uORB header files
+ """
+ includepath = incl_default + [':'.join([package, inputdir])]
+ for f in os.listdir(inputdir):
+ fn = os.path.join(inputdir, f)
+ if os.path.isfile(fn):
+ convert_file(
+ fn,
+ outputdir,
+ templatedir,
+ includepath)
+
+
+def copy_changed(inputdir, outputdir):
+ """
+ Copies files from inputdir to outputdir if they don't exist in
+ ouputdir or if their content changed
+ """
+ for f in os.listdir(inputdir):
+ fni = os.path.join(inputdir, f)
+ if os.path.isfile(fni):
+ # Check if f exists in outpoutdir, copy the file if not
+ fno = os.path.join(outputdir, f)
+ if not os.path.isfile(fno):
+ shutil.copy(fni, fno)
+ print("{0}: new header file".format(f))
+ continue
+ # The file exists in inputdir and outputdir
+ # only copy if contents do not match
+ if not filecmp.cmp(fni, fno):
+ shutil.copy(fni, fno)
+ print("{0}: updated".format(f))
+ continue
+
+ print("{0}: unchanged".format(f))
+
+def convert_dir_save(inputdir, outputdir, templatedir, temporarydir):
+ """
+ Converts all .msg files in inputdir to uORB header files
+ Unchanged existing files are not overwritten.
+ """
+ # Create new headers in temporary output directory
+ convert_dir(inputdir, temporarydir, templatedir)
+
+ # Copy changed headers from temporary dir to output dir
+ copy_changed(temporarydir, outputdir)
+
+if __name__ == "__main__":
+ parser = argparse.ArgumentParser(
+ description='Convert msg files to uorb headers')
+ parser.add_argument('-d', dest='dir', help='directory with msg files')
+ parser.add_argument('-f', dest='file',
+ help="files to convert (use only without -d)",
+ nargs="+")
+ parser.add_argument('-e', dest='templatedir',
+ help='directory with template files',)
+ parser.add_argument('-o', dest='outputdir',
+ help='output directory for header files')
+ parser.add_argument('-t', dest='temporarydir',
+ help='temporary directory')
+ args = parser.parse_args()
+
+ if args.file is not None:
+ for f in args.file:
+ convert_file(
+ f,
+ args.outputdir,
+ args.templatedir,
+ incl_default)
+ elif args.dir is not None:
+ convert_dir_save(
+ args.dir,
+ args.outputdir,
+ args.templatedir,
+ args.temporarydir)
diff --git a/Tools/ros/px4_ros_installation_ubuntu.sh b/Tools/ros/px4_ros_installation_ubuntu.sh
new file mode 100755
index 000000000..72b4f9468
--- /dev/null
+++ b/Tools/ros/px4_ros_installation_ubuntu.sh
@@ -0,0 +1,40 @@
+#!/bin/sh
+
+# main ROS Setup
+# following http://wiki.ros.org/indigo/Installation/Ubuntu
+# also adding drcsim http://gazebosim.org/tutorials?tut=drcsim_install
+# run this file with . ./px4_ros_setup_ubuntu.sh
+
+## add ROS repository
+sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
+
+## add key
+wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | \
+ sudo apt-key add -
+
+## Install main ROS pacakges
+sudo apt-get update
+sudo apt-get -y install ros-indigo-desktop-full
+sudo rosdep init
+rosdep update
+
+## Setup environment variables
+echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
+. ~/.bashrc
+
+# get rosinstall
+sudo apt-get -y install python-rosinstall
+
+# additional dependencies
+sudo apt-get -y install ros-indigo-octomap-msgs
+
+## drcsim setup (for models)
+### add osrf repository
+sudo sh -c 'echo "deb http://packages.osrfoundation.org/drc/ubuntu trusty main" > /etc/apt/sources.list.d/drc-latest.list'
+
+### add key
+wget http://packages.osrfoundation.org/drc.key -O - | sudo apt-key add -
+
+### install drcsim
+sudo apt-get update
+sudo apt-get -y install drcsim
diff --git a/Tools/ros/px4_workspace_create.sh b/Tools/ros/px4_workspace_create.sh
new file mode 100755
index 000000000..4055f7320
--- /dev/null
+++ b/Tools/ros/px4_workspace_create.sh
@@ -0,0 +1,8 @@
+#!/bin/sh
+# this script creates a catkin_ws in the current folder
+
+mkdir -p catkin_ws/src
+cd catkin_ws/src
+catkin_init_workspace
+cd ..
+catkin_make
diff --git a/Tools/ros/px4_workspace_setup.sh b/Tools/ros/px4_workspace_setup.sh
new file mode 100755
index 000000000..1675e54f3
--- /dev/null
+++ b/Tools/ros/px4_workspace_setup.sh
@@ -0,0 +1,31 @@
+#!/bin/bash
+# run this script from the root of your catkin_ws
+source devel/setup.bash
+cd src
+
+# PX4 Firmware
+git clone https://github.com/PX4/Firmware.git
+cd Firmware
+git checkout ros
+cd ..
+
+# euroc simulator
+git clone https://github.com/PX4/euroc_simulator.git
+cd euroc_simulator
+git checkout px4_nodes
+cd ..
+
+# mav comm
+git clone https://github.com/PX4/mav_comm.git
+
+# glog catkin
+git clone https://github.com/ethz-asl/glog_catkin.git
+
+# catkin simple
+git clone https://github.com/catkin/catkin_simple.git
+
+# drcsim (for scenery and models)
+
+cd ..
+
+catkin_make
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-01 08:07:05 +0000