Merge branch 'release/1.15' into v1.15/jazzy

SUV-Lab · Feb 6, 2025 · b1b2e58 · b1b2e58
2 parents 6504484 + 18cbcce
commit b1b2e58
Show file tree

Hide file tree

Showing 68 changed files with 565 additions and 127 deletions.
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -3,27 +3,38 @@ name: Build package
 # CI runs over all branches that do not contain 'ros1' in the name
 on:
   push:
-    branches:
-      - 'main'
+  schedule:
+    - cron: '0 0 * * *'
 
 defaults:
   run:
     shell: bash
 
 jobs:
-  build:
-    name: "Build"
+  focal:
+    name: "Build on Ubuntu Focal"
     runs-on: ubuntu-20.04
-    container: px4io/px4-dev-ros2-${{ matrix.ros2_distro }}:2021-05-31
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: foxy
+      - uses: ros-tooling/[email protected]
+        with:
+          package-name: px4_msgs
+          target-ros2-distro: foxy
+  jammy:
+    name: "Build on Ubuntu Jammy"
+    runs-on: ubuntu-22.04
     strategy:
       matrix:
-        ros2_distro: [foxy, humble, rolling]
+        ros2_distro: [humble, rolling]
     steps:
-      - uses: actions/checkout@v3
-      - name: build
-        run: |
-          source /opt/ros/${{ matrix.ros2_distro }}/setup.bash
-          mkdir -p ~/colcon_ws/src
-          cd ~/colcon_ws
-          ln -s ${GITHUB_WORKSPACE} src/px4_msgs
-          colcon build --cmake-args --symlink-install --event-handlers console_direct+
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ matrix.ros2_distro }}
+      - uses: ros-tooling/[email protected]
+        with:
+          package-name: px4_msgs
+          target-ros2-distro: ${{ matrix.ros2_distro }}
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -20,12 +20,14 @@ find_package(rosidl_default_generators REQUIRED)
 set(MSGS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/msg")
 file(GLOB PX4_MSGS RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}" "${MSGS_DIR}/*.msg")
 
-file(GLOB ROS_MSG_DIR_LIST "${MSGS_DIR}/*.msg")
-
-set(ROS_MSG_DIR_LIST "${ROS_MSG_DIR_LIST}" CACHE INTERNAL "ROS_MSG_DIR_LIST")
+# get all srv files
+set(SRVS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/srv")
+file(GLOB PX4_SRVS RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}" "${SRVS_DIR}/*.srv")
 
 # Generate introspection typesupport for C and C++ and IDL files
-rosidl_generate_interfaces(${PROJECT_NAME} ${PX4_MSGS}
+rosidl_generate_interfaces(${PROJECT_NAME}
+	${PX4_MSGS}
+	${PX4_SRVS}
 	DEPENDENCIES builtin_interfaces
 	ADD_LINTER_TESTS
 )

diff --git a/README.md b/README.md
@@ -2,25 +2,54 @@
 
 [![GitHub license](https://img.shields.io/github/license/PX4/px4_msgs.svg)](https://github.com/PX4/px4_msg/blob/master/LICENSE) [![Build package](https://github.com/PX4/px4_msgs/workflows/Build%20package/badge.svg)](https://github.com/PX4/px4_msgs/actions)
 
-This package contains the ROS2 message definitions of the [PX4 Pro ecosystem](https://px4.io/). Building this package generates all the required interfaces to interface ROS2 nodes with the PX4 autopilot internals, which use the [uORB messaging API](https://dev.px4.io/en/middleware/uorb.html). Currently the messages of this package represent a dependency to [`px4_ros_com` package](https://github.com/PX4/px4_ros_com).
+[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)
 
-## uORB message definitions
+ROS 2 message definitions for the [PX4 Autopilot](https://px4.io/) project.
 
-The uORB message definitions, which represent the counter-part of the ROS2 messages found in this package, can be found on the [PX4 Firmware repository](https://github.com/PX4/Firmware).
+Building this package generates all the required interfaces to interface ROS 2 nodes with the PX4 internals.
 
-## How are these messsage definitions generated?
+## Supported versions and compatibility
 
-When uORB message definitions in the [PX4 firmware](https://github.com/PX4/Firmware) repository change, a CI/CD pipeline automatically generates and pushes updated ROS message definitions to this repository. The ROS message definitions are generated by the [`uorb_to_ros_msgs.py`](https://github.com/PX4/Firmware/blob/master/msg/tools/uorb_to_ros_msgs.py) script. One can also use this script to generate its own ROS message definitions for new or modified uORB messages.
+Depending on the PX4 and ROS versions you want to use, you need to checkout the appropriate branch of this package:
+
+| PX4            | ROS 2   | Ubuntu       | branch                                                            |
+|----------------|---------|--------------|-------------------------------------------------------------------|
+| [v1.13](https://github.com/PX4/px4_msgs/tree/release/1.13)           | Foxy    | Ubuntu 20.04 | [release/1.13](https://github.com/PX4/px4_msgs/tree/release/1.13) |
+| [v1.14](https://github.com/PX4/px4_msgs/tree/release/1.14)           | Foxy    | Ubuntu 20.04 | [release/1.14](https://github.com/PX4/px4_msgs/tree/release/1.14) |
+| [v1.14](https://github.com/PX4/px4_msgs/tree/release/1.14)           | Humble  | Ubuntu 22.04 | [release/1.14](https://github.com/PX4/px4_msgs/tree/release/1.14) |
+| [v1.14](https://github.com/PX4/px4_msgs/tree/release/1.14)           | Rolling | Ubuntu 22.04 | [release/1.14](https://github.com/PX4/px4_msgs/tree/release/1.14) |
+| [v1.15](https://github.com/PX4/px4_msgs/tree/release/1.15)           | Foxy    | Ubuntu 20.04 | [release/1.15](https://github.com/PX4/px4_msgs/tree/release/1.15) |
+| [v1.15](https://github.com/PX4/px4_msgs/tree/release/1.15)           | Humble  | Ubuntu 22.04 | [release/1.15](https://github.com/PX4/px4_msgs/tree/release/1.15) |
+| [v1.15](https://github.com/PX4/px4_msgs/tree/release/1.15)           | Rolling | Ubuntu 22.04 | [release/1.15](https://github.com/PX4/px4_msgs/tree/release/1.15) |
+| [main](https://github.com/PX4/px4_msgs/tree/main)                    | Foxy    | Ubuntu 22.04 | [main](https://github.com/PX4/px4_msgs)                           |
+| [main](https://github.com/PX4/px4_msgs/tree/main)                    | Humble  | Ubuntu 22.04 | [main](https://github.com/PX4/px4_msgs)                           |
+| [main](https://github.com/PX4/px4_msgs/tree/main)                    | Rolling | Ubuntu 22.04 | [main](https://github.com/PX4/px4_msgs)                           |
+
+### Messages Sync from PX4
+
+When PX4 message definitions in the `main` branch of [PX4 Autopilot](https://github.com/PX4/PX4-Autopilot) change, a [CI/CD pipeline](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/metadata.yml#L119) automatically copies and pushes updated ROS message definitions to this repository. This ensures that this repository `main` branch and the PX4-Autopilot `main` branch are always up to date.
+However, if you are using a custom PX4 version and you modified existing messages or created new one, then you have to manually synchronize them in this repository:
+### Manual Message Sync
+
+- Checkout the correct branch associated to the PX4 version from which you detached you custom version.
+- Delete all `*.msg` and `*.srv` files in `msg/` and  `srv/`.
+- Copy all `*.msg` and  `*.srv` files from `PX4-Autopilot/msg/` and `PX4-Autopilot/srv/` in  `msg/` and  `srv/`, respectively. Assuming that this repository and the PX4-Autopilot repository are placed in your home folder, you can run:
+  ```sh
+  rm -f ~/px4_msgs/msg/*.msg
+  rm -f ~/px4_msgs/srv/*.srv
+  cp ~/PX4-Autopilot/msg/*.msg ~/px4_msgs/msg/
+  cp ~/PX4-Autopilot/srv/*.srv ~/px4_msgs/srv/
+  ```
 
 ## Install, build and usage
 
-Check the [`Ament` tutorial](https://index.ros.org/doc/ros2/Tutorials/Ament-Tutorial/) to understand how this can be built inside a worspace. Check the [RTPS/ROS2 Interface](https://dev.px4.io/en/middleware/micrortps.html) section on the PX4 Devguide for further details on how this integrates with the [`px4_ros_com` package](https://github.com/PX4/px4_ros_com).
+Check [Using colcon to build packages](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html#build-a-package) to understand how this can be built inside a workspace. Check the [PX4 ROS 2 User Guide](https://docs.px4.io/main/en/ros/ros2_comm.html) section on the PX4 documentation for further details on how this integrates PX4 and how to exchange messages with the autopilot.
 
 ## Bug tracking and feature requests
 
 Use the [Issues](https://github.com/PX4/px4_msgs/issues) section to create a new issue. Report your issue or feature request [here](https://github.com/PX4/px4_msgs/issues/new).
 
 ## Questions and troubleshooting
 
-Reach the PX4 development team on the `#messaging` PX4 Slack channel:
-[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)
+Reach the PX4 development team on the [PX4 Discord Server](https://discord.gg/dronecode).
+
diff --git a/msg/ActuatorTest.msg b/msg/ActuatorTest.msg
@@ -18,4 +18,4 @@ float32 value					# range: [-1, 1], where 1 means maximum positive output,
                    				# and NaN maps to disarmed (stop the motors)
 uint32 timeout_ms				# timeout in ms after which to exit test mode (if 0, do not time out)
 
-uint8 ORB_QUEUE_LENGTH = 12                     # same as MAX_NUM_MOTORS to support code in esc_calibration
+uint8 ORB_QUEUE_LENGTH = 16                     # >= MAX_NUM_MOTORS to support code in esc_calibration
diff --git a/msg/ArmingCheckReply.msg b/msg/ArmingCheckReply.msg
@@ -0,0 +1,33 @@
+uint64 timestamp # time since system start (microseconds)
+
+uint8 request_id
+uint8 registration_id
+
+uint8 HEALTH_COMPONENT_INDEX_NONE = 0
+uint8 HEALTH_COMPONENT_INDEX_AVOIDANCE = 19
+
+uint8 health_component_index      # HEALTH_COMPONENT_INDEX_*
+bool health_component_is_present
+bool health_component_warning
+bool health_component_error
+
+bool can_arm_and_run              # whether arming is possible, and if it's a navigation mode, if it can run
+
+uint8 num_events
+
+Event[5] events
+
+# Mode requirements
+bool mode_req_angular_velocity
+bool mode_req_attitude
+bool mode_req_local_alt
+bool mode_req_local_position
+bool mode_req_local_position_relaxed
+bool mode_req_global_position
+bool mode_req_mission
+bool mode_req_home_position
+bool mode_req_prevent_arming
+bool mode_req_manual_control
+
+
+uint8 ORB_QUEUE_LENGTH = 4
diff --git a/msg/ArmingCheckRequest.msg b/msg/ArmingCheckRequest.msg
@@ -0,0 +1,5 @@
+uint64 timestamp # time since system start (microseconds)
+
+# broadcast message to request all registered arming checks to be reported
+
+uint8 request_id
diff --git a/msg/BatteryStatus.msg b/msg/BatteryStatus.msg
@@ -4,7 +4,7 @@ float32 voltage_v			# Battery voltage in volts, 0 if unknown
 float32 voltage_filtered_v	# Battery voltage in volts, filtered, 0 if unknown
 float32 current_a			# Battery current in amperes, -1 if unknown
 float32 current_filtered_a	# Battery current in amperes, filtered, 0 if unknown
-float32 current_average_a	# Battery current average in amperes, -1 if unknown
+float32 current_average_a	# Battery current average in amperes (for FW average in level flight), -1 if unknown
 float32 discharged_mah		# Discharged amount in mAh, -1 if unknown
 float32 remaining			# From 1 to 0, -1 if unknown
 float32 scale				# Power scaling factor, >= 1, or -1 if unknown

diff --git a/msg/Buffer128.msg b/msg/Buffer128.msg
@@ -0,0 +1,9 @@
+uint64 timestamp		# time since system start (microseconds)
+
+uint8 len                       # length of data
+uint32 MAX_BUFLEN = 128
+
+uint8[128] data                 # data
+
+# TOPICS voxl2_io_data
+
diff --git a/msg/CanInterfaceStatus.msg b/msg/CanInterfaceStatus.msg
@@ -0,0 +1,6 @@
+uint64 timestamp		# time since system start (microseconds)
+uint8 interface
+
+uint64 io_errors
+uint64 frames_tx
+uint64 frames_rx
diff --git a/msg/ConfigOverrides.msg b/msg/ConfigOverrides.msg
@@ -0,0 +1,18 @@
+# Configurable overrides by (external) modes or mode executors
+uint64 timestamp		# time since system start (microseconds)
+
+bool disable_auto_disarm         # Prevent the drone from automatically disarming after landing (if configured)
+
+bool defer_failsafes             # Defer all failsafes that can be deferred (until the flag is cleared)
+int16 defer_failsafes_timeout_s  # Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout
+
+
+int8 SOURCE_TYPE_MODE = 0
+int8 SOURCE_TYPE_MODE_EXECUTOR = 1
+int8 source_type
+
+uint8 source_id                  # ID depending on source_type
+
+uint8 ORB_QUEUE_LENGTH = 4
+
+# TOPICS config_overrides config_overrides_request
diff --git a/msg/DatamanRequest.msg b/msg/DatamanRequest.msg
@@ -0,0 +1,8 @@
+uint64 timestamp	# time since system start (microseconds)
+
+uint8 client_id
+uint8 request_type	# id/read/write/clear
+uint8 item			# dm_item_t
+uint32 index
+uint8[56] data
+uint32 data_length
diff --git a/msg/DatamanResponse.msg b/msg/DatamanResponse.msg
@@ -0,0 +1,15 @@
+uint64 timestamp	# time since system start (microseconds)
+
+uint8 client_id
+uint8 request_type	# id/read/write/clear
+uint8 item			# dm_item_t
+uint32 index
+uint8[56] data
+
+uint8 STATUS_SUCCESS = 0
+uint8 STATUS_FAILURE_ID_ERR = 1
+uint8 STATUS_FAILURE_NO_DATA = 2
+uint8 STATUS_FAILURE_READ_FAILED = 3
+uint8 STATUS_FAILURE_WRITE_FAILED = 4
+uint8 STATUS_FAILURE_CLEAR_FAILED = 5
+uint8 status
diff --git a/msg/DifferentialDriveSetpoint.msg b/msg/DifferentialDriveSetpoint.msg
@@ -0,0 +1,8 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 speed # [m/s] collective roll-off speed in body x-axis
+bool closed_loop_speed_control # true if speed is controlled using estimator feedback, false if direct feed-forward
+float32 yaw_rate # [rad/s] yaw rate
+bool closed_loop_yaw_rate_control # true if yaw rate is controlled using gyroscope feedback, false if direct feed-forward
+
+# TOPICS differential_drive_setpoint differential_drive_control_output
diff --git a/msg/EstimatorAidSource1d.msg b/msg/EstimatorAidSource1d.msg
@@ -14,11 +14,11 @@ float32 innovation
 float32 innovation_variance
 float32 test_ratio
 
-bool fusion_enabled          # true when measurements are being fused
 bool innovation_rejected     # true if the observation has been rejected
 bool fused                   # true if the sample was successfully fused
 
 # TOPICS estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt
 # TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip
 # TOPICS estimator_aid_src_fake_hgt
-# TOPICS estimator_aid_src_mag_heading estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
+# TOPICS estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
+# TOPICS estimator_aid_src_terrain_range_finder
diff --git a/msg/EstimatorAidSource2d.msg b/msg/EstimatorAidSource2d.msg
@@ -14,9 +14,9 @@ float32[2] innovation
 float32[2] innovation_variance
 float32[2] test_ratio
 
-bool fusion_enabled          # true when measurements are being fused
 bool innovation_rejected     # true if the observation has been rejected
 bool fused                   # true if the sample was successfully fused
 
-# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos
+# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position
 # TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow estimator_aid_src_terrain_optical_flow
+# TOPICS estimator_aid_src_drag
diff --git a/msg/EstimatorAidSource3d.msg b/msg/EstimatorAidSource3d.msg
@@ -14,7 +14,6 @@ float32[3] innovation
 float32[3] innovation_variance
 float32[3] test_ratio
 
-bool fusion_enabled          # true when measurements are being fused
 bool innovation_rejected     # true if the observation has been rejected
 bool fused                   # true if the sample was successfully fused
 

diff --git a/msg/EstimatorInnovations.msg b/msg/EstimatorInnovations.msg
@@ -19,7 +19,6 @@ float32 baro_vpos	# barometer height innovation (m) and innovation variance (m**
 
 # Auxiliary velocity
 float32[2] aux_hvel	# horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
-float32    aux_vvel	# vertical auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
 
 # Optical flow
 float32[2] flow		# flow innvoation (rad/sec) and innovation variance ((rad/sec)**2)

diff --git a/msg/EstimatorStates.msg b/msg/EstimatorStates.msg
@@ -4,4 +4,4 @@ uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
 float32[24] states		# Internal filter states
 uint8 n_states		# Number of states effectively used
 
-float32[24] covariances	# Diagonal Elements of Covariance Matrix
+float32[23] covariances	# Diagonal Elements of Covariance Matrix
diff --git a/msg/EstimatorStatus.msg b/msg/EstimatorStatus.msg
@@ -127,3 +127,8 @@ uint32 mag_device_id
 # legacy local position estimator (LPE) flags
 uint8 health_flags		# Bitmask to indicate sensor health states (vel, pos, hgt)
 uint8 timeout_flags		# Bitmask to indicate timeout flags (vel, pos, hgt)
+
+float32 mag_inclination_deg
+float32 mag_inclination_ref_deg
+float32 mag_strength_gs
+float32 mag_strength_ref_gs
diff --git a/msg/EstimatorStatusFlags.msg b/msg/EstimatorStatusFlags.msg
@@ -39,6 +39,10 @@ bool cs_rng_kin_consistent      # 31 - true when the range finder kinematic cons
 bool cs_fake_pos                # 32 - true when fake position measurements are being fused
 bool cs_fake_hgt                # 33 - true when fake height measurements are being fused
 bool cs_gravity_vector          # 34 - true when gravity vector measurements are being fused
+bool cs_mag                     # 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended
+bool cs_ev_yaw_fault            # 36 - true when the EV heading has been declared faulty and is no longer being used
+bool cs_mag_heading_consistent  # 37 - true when the heading obtained from mag data is declared consistent with the filter
+bool cs_aux_gpos                # 38 - true if auxiliary global position measurement fusion is intended
 
 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes
@@ -51,15 +55,9 @@ bool fs_bad_airspeed          #  5 - true if fusion of the airspeed has encounte
 bool fs_bad_sideslip          #  6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
 bool fs_bad_optflow_x         #  7 - true if fusion of the optical flow X axis has encountered a numerical error
 bool fs_bad_optflow_y         #  8 - true if fusion of the optical flow Y axis has encountered a numerical error
-bool fs_bad_vel_n             #  9 - true if fusion of the North velocity has encountered a numerical error
-bool fs_bad_vel_e             # 10 - true if fusion of the East velocity has encountered a numerical error
-bool fs_bad_vel_d             # 11 - true if fusion of the Down velocity has encountered a numerical error
-bool fs_bad_pos_n             # 12 - true if fusion of the North position has encountered a numerical error
-bool fs_bad_pos_e             # 13 - true if fusion of the East position has encountered a numerical error
-bool fs_bad_pos_d             # 14 - true if fusion of the Down position has encountered a numerical error
-bool fs_bad_acc_bias          # 15 - true if bad delta velocity bias estimates have been detected
-bool fs_bad_acc_vertical      # 16 - true if bad vertical accelerometer data has been detected
-bool fs_bad_acc_clipping      # 17 - true if delta velocity data contains clipping (asymmetric railing)
+bool fs_bad_acc_bias          #  9 - true if bad delta velocity bias estimates have been detected
+bool fs_bad_acc_vertical      # 10 - true if bad vertical accelerometer data has been detected
+bool fs_bad_acc_clipping      # 11 - true if delta velocity data contains clipping (asymmetric railing)
 
 
 # innovation test failures

diff --git a/msg/FailsafeFlags.msg b/msg/FailsafeFlags.msg
@@ -43,7 +43,7 @@ bool battery_low_remaining_time       # Low battery based on remaining flight ti
 bool battery_unhealthy                # Battery unhealthy
 
 # Other
-bool primary_geofence_breached        # Primary Geofence breached
+bool geofence_breached        	      # Geofence breached (one or multiple)
 bool mission_failure                  # Mission failure
 bool vtol_fixed_wing_system_failure   # vehicle in fixed-wing system failure failsafe mode (after quad-chute)
 bool wind_limit_exceeded              # Wind limit exceeded

diff --git a/msg/FigureEightStatus.msg b/msg/FigureEightStatus.msg
@@ -0,0 +1,8 @@
+uint64 timestamp # time since system start (microseconds)
+float32 major_radius 	# Major axis radius of the figure eight [m]. Positive values orbit clockwise, negative values orbit counter-clockwise.
+float32 minor_radius 	# Minor axis radius of the figure eight [m].
+float32 orientation 	# Orientation of the major axis of the figure eight [rad].
+uint8 frame      # The coordinate system of the fields: x, y, z.
+int32 x          # X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
+int32 y        	 # Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters * 1e4, global = latitude in degrees * 1e7.
+float32 z        # Altitude of center point. Coordinate system depends on frame field.
diff --git a/msg/FlightPhaseEstimation.msg b/msg/FlightPhaseEstimation.msg
@@ -0,0 +1,8 @@
+uint64 timestamp               # time since system start (microseconds)
+
+uint8 flight_phase 		# Estimate of current flight phase
+
+uint8 FLIGHT_PHASE_UNKNOWN = 0  # vehicle flight phase is unknown
+uint8 FLIGHT_PHASE_LEVEL = 1	# Vehicle is in level flight
+uint8 FLIGHT_PHASE_DESCEND = 2	# vehicle is in descend
+uint8 FLIGHT_PHASE_CLIMB = 3   # vehicle is climbing