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Tools: Updated ardupilot-ws and dependencies #22630

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Tools: Updated ardupilot-ws and dependencies #22630

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snktshrma
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@snktshrma snktshrma commented Jan 10, 2023 •
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This PR is an update to #22598 and #22608 and will resolve all the dependency related issues with ardupilot_ros package. This ardupilot_ros package is tested with SwiftGust's and Khancyr's version of ardupilot_gazebo package for simulation purposes.

Also updated the navigation parameters ArduPilot/ardupilot_ros#5 in response to this PR.

Also I have added the script in comments to add packages.osrfoundation.org to the apt source to download gz-garden for ardupilot_gazebo.

There's an issue found while downloading gz-garden. It tries to remove ROS and gazebo packages because of conflicting dependencies. Not sure if it's for all.

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snktshrma commented Jan 12, 2023 •
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@rmackay9 @srmainwaring can you please have a look at the updates?
Thank you

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This ardupilot_ros package is tested with SwiftGust's and Khancyr's version of ardupilot_gazebo package for simulation purposes.

Can we add a feature to specify which combination of ROS / Gazebo / ardupilot_gazebo to install. The ardupilot_gazebo plugin needs to be matched to an appropriate version of Gazebo and that in turn is matched to a ROS release for a version of Ubuntu.

We should make sure that ArduPilot/ardupilot_gazebo has a branch for each of the Gazebo versions we are planning to support so the maintenance is in one place. If we can simplify this to one legacy version and to the next gen versions (from Garden onwards after the namespace change) that would simplify support.

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rmackay9 commented Jan 13, 2023 •
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@snktshrma,

Thanks for this.

Can you rebase on master to remove the "Merge" commit? We don't allow merge commits to be merged to master.

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snktshrma commented Jan 13, 2023 •
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@srmainwaring Thanks for the suggestion. I'll add an option for the users to select their combination of ardupilot_gazebo and other required packages. This will be good for users to have a customized and comfortable setup.
@rmackay9 can you please have a look at the pr?
Thank you

@snktshrma
Tools: Updated ardupilot-ws and dependencies
3495bc9 
commit 761b7e9d8d36a366f9e1895c5380f1a40c4f852b
Merge: cba5c659d2 60f9150694
Author: Sanket Sharma <[email protected]>
Date:   Sat Jan 14 01:35:07 2023 +0530

    Merge branch 'patch-8' of https://github.com/snktshrma/ardupilot into patch-8

commit cba5c659d2433cc02572f90b7373034500f8f5b5
Author: Peter Barker <[email protected]>
Date:   Thu Jan 12 13:33:15 2023 +1100

    AP_HAL_ChibiOS: ignore array bounds check while checking 0x0 for writes

    Fixes compiler error on g++ 12

    ../../libraries/AP_HAL_ChibiOS/Scheduler.cpp:568:20: error: array subscript 0 is outside array bounds of 'const uint8_t [0]' [-Werror=array-bounds]
      568 |         if (addr0[i] != 0) {

commit b08eb33978f097ca629e6883076167beb1f88f8b
Author: Peter Barker <[email protected]>
Date:   Thu Jan 12 13:02:30 2023 +1100

    Copter: remove FS_OPTIONS parameter conversion

    This code is in 4.0.7 but not 3.6.11 - i.e. after this someone upgrading from 3.6 to master (and presumably 4.4) won't get this conversion done.

    This conversion is flawed in that someone configuring a default for a parameter in a configuration file will have that value over-ridden by this code.

commit 973a7ddde1466254205516c541522834a6e21f5a
Author: Peter Barker <[email protected]>
Date:   Thu Jan 12 09:43:32 2023 +1100

    Tools: param_parse.py: sort SIM_ parameters into the output files

    primarily to make the Wiki look nicer

commit 94ea93df489165a4ea37881fbb82c6429fc29154
Author: Peter Barker <[email protected]>
Date:   Tue Jan 3 21:19:00 2023 +1100

    AP_AHRS: create an AP_AHRS_SIM backend

commit 5144bdcb12d2cf93f9e907f3ffbc646875882c2b
Author: Henry Wurzburg <[email protected]>
Date:   Tue Jan 10 11:28:44 2023 -0600

    SITL: add SITL param metadata and fix a few

commit b8e954a889f62df2ffffb4efcdeeaf5a66c895ac
Author: Peter Barker <[email protected]>
Date:   Tue Jan 3 16:54:17 2023 +1100

    AP_HAL_ChibiOS: disable batch sampler on SkyViper-v2450

    saves ~1.8kB

commit 0e35bc8daca33f26aa62da4a9a4547fd563d0183
Author: Peter Barker <[email protected]>
Date:   Tue Jan 3 16:51:51 2023 +1100

    AP_InertialSensor: create explicit define for AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED

    this allows the batch sampler to be removed for size reasons, or because you don't have logging enabled

commit 008db9403d4020b608df78d24822911af949fc95
Author: Andy Piper <[email protected]>
Date:   Mon Jan 9 16:33:49 2023 +0000

    AP_Motors: use _dt instead of loop rate for throttle slew calculation

commit c0f4843cd0323cea4056fe0941bb693c7b758f56
Author: Andy Piper <[email protected]>
Date:   Sat Jul 16 10:38:12 2022 +0100

    AP_AHRS: add throttle slew to RATE

    log PD scaling values

commit f93e6cf547c8b81fdf0529588ef8fd4ca07662db
Author: Andy Piper <[email protected]>
Date:   Wed May 11 12:37:03 2022 +0100

    AC_AttitudeControl: boost PD on roll and pitch when slew limit is hit

    boost angle P when slew limit is hit
    move to a single parameter for thrust-gain boosting
    add PD scaling support

commit 541bed0996f3ae3fc6cd37850129fa91d933ae19
Author: Andy Piper <[email protected]>
Date:   Sat May 28 16:58:25 2022 +0100

    AC_PID: support PD boosting

commit eb60d93bc9ea438a13017288c5b21a200559cacc
Author: Andy Piper <[email protected]>
Date:   Wed May 11 17:23:22 2022 +0100

    autotest: anti-gravity test using THR_G_BOOST boost

commit a63236b3d8b4f1477ab1d60f465cca22a8f8e401
Author: Andy Piper <[email protected]>
Date:   Wed May 11 10:14:51 2022 +0100

    AP_Motors: calculate throttle slew rate

    use derivative filter and apply filtering to slew detector

commit 82ff54ce5f9e619b78c2c76f62c8425b9d893a42
Author: Andy Piper <[email protected]>
Date:   Wed Jan 4 17:58:22 2023 +0000

    AP_HAL_ChibiOS: simple conversion tool for betaflight pin definitions

commit a72a5bcdf4ffca6c31f8c00eb9f1520bf8b253d4
Author: Andy Piper <[email protected]>
Date:   Thu Jan 5 17:02:42 2023 +0000

    bootloaders: bootloader for FoxeerH743v1

commit b772d0e31cb214f9f9c5498dac6325271b293d45
Author: Andy Piper <[email protected]>
Date:   Wed Jan 4 21:14:32 2023 +0000

    AP_HAL_ChibiOS: FoxeerH743 hwdef

commit 09ccedfd016d75658b80ec2cd1b3a2a7ab5ff2d7
Author: Andy Piper <[email protected]>
Date:   Wed Jan 4 21:12:56 2023 +0000

    AP_Bootloader: add FoxeerH743v1 to board types

commit 1c34cd63905a41607940214418d51216a4f0ff4b
Author: Iampete1 <[email protected]>
Date:   Tue Jan 10 12:29:54 2023 +0000

    AP_Param: add shared Info defines

commit 7ff7d624890fccb59a19d6a4fa6987e8c32c651d
Author: Iampete1 <[email protected]>
Date:   Tue Jan 10 12:29:40 2023 +0000

    Tools: Replay: use shared Param info defines

commit d5c8fe4acab9204fe033faba8a192ecf971d7cf1
Author: Iampete1 <[email protected]>
Date:   Tue Jan 10 12:29:23 2023 +0000

    Tools: AP_Periph: use shared Param info defines

commit 3ac8ca65573b174379e766a89759cc72ef6c1952
Author: Iampete1 <[email protected]>
Date:   Wed Jan 4 01:39:14 2023 +0000

    Rover: use shared param info defines

commit 20b1622178caa00d2ea4f56e7dd37fd07c7a2763
Author: Iampete1 <[email protected]>
Date:   Wed Jan 4 01:39:14 2023 +0000

    Blimp: use shared param info defines

commit 8d963fab01b6e8ad9f32c6ce9d76599ed9e4997f
Author: Iampete1 <[email protected]>
Date:   Wed Jan 4 01:39:14 2023 +0000

    ArduSub: use shared param info defines

commit 09634e571223504e520c04524285ee9dfa7b5784
Author: Iampete1 <[email protected]>
Date:   Wed Jan 4 01:39:14 2023 +0000

    ArduPlane: use shared param info defines

commit 292a27aa98a4f6ad1a3664fd44a11afd608157e9
Author: Iampete1 <[email protected]>
Date:   Wed Jan 4 01:39:14 2023 +0000

    ArduCopter: use shared param info defines

commit b0da54c46f635545e18343faa9a5dc6a18288aa6
Author: Iampete1 <[email protected]>
Date:   Wed Jan 4 01:39:14 2023 +0000

    AntennaTracker: use shared param info defines

commit a7d8032e833eb9d3b85522d353753113e3e83c73
Author: Iampete1 <[email protected]>
Date:   Wed Jan 4 01:39:14 2023 +0000

    AP_Param: align param info structures to save flash

commit 5268b051fd5b999f08aab8cbbc708239dcd46f5f
Author: Iampete1 <[email protected]>
Date:   Wed Jan 4 01:39:14 2023 +0000

    AP_OSD: align param info structures to save flash

commit a1ad8e3a20c93af5a3c7f89177cba10724dbb3b3
Author: Iampete1 <[email protected]>
Date:   Wed Jan 4 01:39:14 2023 +0000

    AP_NMEA_Output: align param info structures to save flash

commit 35364964fcdadbaf44defd38fe2da5a515fe3dbf
Author: Peter Barker <[email protected]>
Date:   Fri Jan 6 16:12:24 2023 +1100

    AP_Param: correct compilation when debugging enabled

    Correct passing through ov varargs from macro

commit 68fbdf11816eeb0574f817cde442d88db3d777a5
Author: MAD-CRAZY-MAN <[email protected]>
Date:   Tue Jan 10 11:13:28 2023 +0900

    hwdef: update thepeach hwdef-bl.dat

commit 60f91506946d9c574bce406b678d143b8785ceec
Merge: 6e3357d2f4 08f652f
Author: Sanket Sharma <[email protected]>
Date:   Thu Jan 12 23:38:08 2023 +0530

    Merge branch 'master' into patch-8

commit 6e3357d2f4cd23b63e11d97c977ddfada691cfbc
Merge: ee54ee4bc7 9cb3bfb
Author: Sanket Sharma <[email protected]>
Date:   Wed Jan 11 15:24:53 2023 +0530

    Merge branch 'master' into patch-8

commit ee54ee4bc79fb0544b95b5708cfb4390ebf89ee1
Merge: ac9ac8274d 37b54a7
Author: Sanket Sharma <[email protected]>
Date:   Wed Jan 11 13:06:48 2023 +0530

    Merge branch 'master' into patch-8

commit ac9ac8274d13eac5250e603654f8c793bf3139a4
Author: Sanket Sharma <[email protected]>
Date:   Wed Jan 11 02:32:55 2023 +0530

    Tools: Updated ardupilot-ws and dependencies

    This PR will resolve all the dependency related issues with ardupilot_ros package. This package is tested with SwiftGust's and Khancyr's version of ardupilot_gazebo package for simulation purposes.
    Also updated the cartographer parameters  ArduPilot/ardupilot_ros#5  in response to this PR.
    Also I have added the script in comments to add packages.osrfoundation.org to the apt source to download gz-garden for ardupilot_gazebo.

    There's an issue found while downloading gz-garden. It tries to remove ROS and gazebo packages because of conflicting dependencies. Not sure if it's for all.
@khancyr khancyr added the ROS label Mar 20, 2023
Ryanf55
Ryanf55 reviewed May 7, 2024
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Tools/environment_install/install-ROS-ubuntu.sh
popd
sudo apt update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
wstool init src
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@Ryanf55 Ryanf55 May 7, 2024 •
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Shouldn't we be using vcstool?

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I used wstool in reference to ROS usage.

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@snktshrma @srmainwaring @rmackay9 @Ryanf55 @khancyr