Merge remote-tracking branch 'origin/master' into develop/Ninja

.github/workflows/catkin_lint.yml

@@ -28,4 +28,4 @@ jobs:
           wstool init
           wstool merge aerial_robot_noetic.rosinstall
           wstool update
-          ROS_DISTRO=noetic catkin_lint --resolve-env --strict $PWD --skip-path kalman_filter --skip-path ublox_gps --skip-path aerial_robot_3rdparty  --skip-path rosserial --skip-path livox_ros_driver2 --skip-path fast_lio
+          ROS_DISTRO=noetic catkin_lint --resolve-env --strict $PWD --skip-path kalman_filter --skip-path ublox_gps --skip-path aerial_robot_3rdparty  --skip-path rosserial --skip-path livox_ros_driver2 --skip-path fast_lio --skip-path mocap_optitrack

.github/workflows/ros_test.yml

@@ -12,6 +12,8 @@ jobs:
             DOCKER_IMAGE : ubuntu:bionic
           - ROS_DISTRO : noetic
             DOCKER_IMAGE : ubuntu:focal
+          - ROS_DISTRO : one
+            DOCKER_IMAGE : ubuntu:jammy
     steps:
       - name: Setup OS
         run: |

.travis.sh

@@ -2,33 +2,33 @@
 
 set -ex
 
-apt-get update -qq && apt-get install -y -q wget sudo lsb-release gnupg git sed build-essential # for docker
+apt-get update -qq && apt-get install -y -q wget sudo lsb-release gnupg git sed build-essential ca-certificates # for docker
 echo 'debconf debconf/frontend select Noninteractive' | sudo debconf-set-selections
 
 echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
-sudo sh -c "echo \"deb ${REPOSITORY} `lsb_release -cs` main\" > /etc/apt/sources.list.d/ros-latest.list"
-wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-sudo apt-get update -qq
 
 # Install ROS
-if [[ "$ROS_DISTRO" ==  "noetic" ]]; then
-    sudo apt-get install -y -q python3-catkin-pkg python3-catkin-tools python3-rosdep python3-wstool python3-rosinstall-generator python3-osrf-pycommon python-is-python3
+if [[ "$ROS_DISTRO" ==  "one" ]]; then
+    ${CI_SOURCE_PATH}/configure.sh
 else
-    sudo apt-get install -y -q python-catkin-pkg python-catkin-tools python-rosdep python-wstool python-rosinstall-generator
+    sudo sh -c "echo \"deb ${REPOSITORY} `lsb_release -cs` main\" > /etc/apt/sources.list.d/ros-latest.list"
+    wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+    sudo apt-get update -qq
+
+    if [[ "$ROS_DISTRO" ==  "noetic" ]]; then
+        sudo apt-get install -y -q python3-catkin-pkg python3-catkin-tools python3-rosdep python3-wstool python3-rosinstall-generator python3-osrf-pycommon python-is-python3
+    else
+        sudo apt-get install -y -q python-catkin-pkg python-catkin-tools python-rosdep python-wstool python-rosinstall-generator
+    fi
+    sudo apt-get install -y -q ros-$ROS_DISTRO-catkin
+
+    # Setup for rosdep
+    sudo rosdep init
+    rosdep update --include-eol-distros
 fi
-sudo apt-get install -y -q ros-$ROS_DISTRO-catkin
 
-source /opt/ros/${ROS_DISTRO}/setup.bash
 
-# Setup for rosdep
-sudo rosdep init
-# use snapshot of rosdep list
-    # https://github.com/ros/rosdistro/pull/31570#issuecomment-1000497517
-if [[ "$ROS_DISTRO" = "kinetic" ]]; then
-    sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
-    sudo wget https://gist.githubusercontent.com/cottsay/b27a46e53b8f7453bf9ff637d32ea283/raw/476b3714bb90cfbc6b8b9d068162fc6408fa7f76/30-xenial.list -O /etc/ros/rosdep/sources.list.d/30-xenial.list
-fi
-rosdep update --include-eol-distros
+source /opt/ros/${ROS_DISTRO}/setup.bash
 
 # Install source code
 mkdir -p ~/catkin_ws/src
@@ -39,36 +39,6 @@ wstool merge -t src src/${REPOSITORY_NAME}/aerial_robot_${ROS_DISTRO}.rosinstall
 wstool update -t src
 rosdep install --from-paths src -y -q -r --ignore-src --rosdistro ${ROS_DISTRO} # -r is indisapensible
 
-if [ ${ROS_DISTRO} = 'kinetic' ]; then
-    path=~/.gazebo/models/sun
-    echo "manually download the sun gazebo model to ${path}"
-    mkdir -p ${path}
-    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/sun/model-1_2.sdf -P ${path}
-    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/sun/model-1_3.sdf -P ${path}
-    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/sun/model-1_4.sdf -P ${path}
-    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/sun/model.sdf -P ${path}
-    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/sun/model.config -P ${path}
-
-    path=~/.gazebo/models/ground_plane
-    echo "manually download the ground_plane gazebo model to ${path}"
-    mkdir -p ${path}
-    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/ground_plane/model-1_2.sdf -P ${path}
-    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/ground_plane/model-1_3.sdf -P ${path}
-    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/ground_plane/model-1_4.sdf -P ${path}
-    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/ground_plane/model.sdf -P ${path}
-    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/ground_plane/model.config -P ${path}
-fi
-
-if [[ "$ROS_DISTRO" = "kinetic" ]]; then
-    # to use c++17
-    sudo apt-get install -y software-properties-common
-    sudo add-apt-repository ppa:ubuntu-toolchain-r/test
-    sudo apt update
-    sudo apt install -y g++-7
-    export CXX='g++-7'
-    export CC='gcc-7'
-fi
-
 # Build
 catkin config --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
 catkin build --no-status

README.md

@@ -6,14 +6,40 @@
 
 ## Setup
 
+### Ubuntu 18.04, 20.04
+
+#### Install ROS1 from official site
+- Melodic: https://wiki.ros.org/melodic/Installation/Ubuntu
+- Noetic: https://wiki.ros.org/noetic/Installation/Ubuntu
+
+#### Build
+
 ```bash
 source /opt/ros/${ROS_DISTRO}/setup.bash # please replace ${ROS_DISTRO} with your specific env variable, e.g., melodic
+sudo apt install -y python3-wstool python3-catkin-tools # for melodic, please replace `python3` with `python`
 mkdir -p ~/ros/jsk_aerial_robot_ws/src
 cd ~/ros/jsk_aerial_robot_ws
 sudo rosdep init
 rosdep update
 wstool init src
 wstool set -u -t src jsk_aerial_robot http://github.com/jsk-ros-pkg/jsk_aerial_robot --git
+./src/jsk_aerial_robot/configure.sh # for configuration especially for ros-o in jammy
+wstool merge -t src src/jsk_aerial_robot/aerial_robot_${ROS_DISTRO}.rosinstall
+wstool update -t src
+rosdep install -y -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+catkin build
+```
+
+### Ubuntu 22.04 (ROS-O)
+
+```bash
+sudo apt install -y python3-wstool
+mkdir -p ~/ros/jsk_aerial_robot_ws/src
+cd ~/ros/jsk_aerial_robot_ws
+wstool init src
+wstool set -u -t src jsk_aerial_robot http://github.com/jsk-ros-pkg/jsk_aerial_robot --git
+./src/jsk_aerial_robot/configure.sh # for configuration especially for ros-o in jammy
+source /opt/ros/one/setup.bash
 wstool merge -t src src/jsk_aerial_robot/aerial_robot_${ROS_DISTRO}.rosinstall
 wstool update -t src
 rosdep install -y -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO

aerial_robot/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package aerial_robot
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.4 (2024-11-02)
+------------------
+
 1.3.3 (2023-10-26)
 ------------------
 * [Mini Quadrotor] support the common quadrotor platform (`#546 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/546>`_)

aerial_robot/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>aerial_robot</name>
-  <version>1.3.3</version>
+  <version>1.3.4</version>
   <description>Software of JSK lab for aerial robot</description>
 
   <maintainer email="[email protected]">Moju Zhao</maintainer>

aerial_robot_base/CHANGELOG.rst

@@ -2,6 +2,17 @@
 Changelog for package aerial_robot_base
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.4 (2024-11-02)
+------------------
+* [base][mocap]: add an option "enable_optitrack: true" (`#621 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/621>`_)
+* [rosbag] add joy topic in control record Merge pull request (`#605 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/605>`_)
+* [Mocap] remove the "required" flag to allow the onboard-sensor-only flight  (`#604 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/604>`_)
+* [Livox LiDAR + FAST LIO] enable to use Livox ros driver and FAST LIO as default (`#600 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/600>`_)
+* [CMake] use C++17 compiler for all packages that contain C++ files  (`#581 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/581>`_)
+* [Typo] Fix typos (`#563 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/563>`_)
+* [Navigation] improve keyboard teleopration that allows to move the robot with uniform linear motion (`#555 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/555>`_)
+* [Navigation] improve the landing motion for all robots  (`#554 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/554>`_)
+
 1.3.3 (2023-10-26)
 ------------------
 * [Mini Quadrotor] support the common quadrotor platform (`#546 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/546>`_)

aerial_robot_base/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>aerial_robot_base</name>
-  <version>1.3.3</version>
+  <version>1.3.4</version>
   <description>The base for aerial robots</description>
 
   <maintainer email="[email protected]">Bakui Chou</maintainer>

aerial_robot_control/CHANGELOG.rst

@@ -2,6 +2,18 @@
 Changelog for package aerial_robot_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.4 (2024-11-02)
+------------------
+* [Navigation][Land] improve the landing process to be more safe and precise (`#603 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/603>`_)
+* [navigation] failsafe for high input voltage (`#588 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/588>`_)
+* [Control][Landing][Bug]  revert the missing initialization for variable about force landing Merge pull request (`#585 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/585>`_)
+* [Navigation][Land] refactor the landing convergence condition  (`#583 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/583>`_)
+* [CMake] use C++17 compiler for all packages that contain C++ files  (`#581 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/581>`_)
+* [Typo] Fix typos (`#563 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/563>`_)
+* [Navigation] trajectory generation based on optimization methods (e.g. minimum snap trajectory)  (`#556 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/556>`_)
+* [Navigation] improve keyboard teleopration that allows to move the robot with uniform linear motion (`#555 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/555>`_)
+* [Navigation] improve the landing motion for all robots  (`#554 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/554>`_)
+
 1.3.3 (2023-10-26)
 ------------------
 * [Navigation] refactor landing and halt command during vel acc-based mode (`#553 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/553>`_)

aerial_robot_control/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>aerial_robot_control</name>
-  <version>1.3.3</version>
+  <version>1.3.4</version>
   <description>The aerial_robot_control package</description>
 
   <maintainer email="[email protected]">Moju Zhao</maintainer>

aerial_robot_kinetic.rosinstall → aerial_robot_debian.rosinstall

@@ -2,19 +2,19 @@
 - git:
     local-name: aerial_robot_3rdparty
     uri: https://github.com/JSKAerialRobot/aerial_robot_3rdparty.git
-    version: b10f5bf
+    version: 4085d3a
 
 # kalman filter
 - git:
     local-name: kalman_filter
     uri: https://github.com/JSKAerialRobot/kalman_filter.git
-    version: 012b925
+    version: 5c7a410
 
 # the sensor interface
 - git:
     local-name: sensor_interface
     uri: https://github.com/JSKAerialRobot/sensor_interface.git
-    version: c4570c0 
+    version: e8286e7
 
 # RTK-GPS
 # support RTK based GPS module.
@@ -29,10 +29,30 @@
 - git:
     local-name: rosserial
     uri: https://github.com/tongtybj/rosserial.git
-    version: kinetic-devel
+    version: rosservice_server
+
+# livox ros driver
+# modification for quick build of ROS1 version
+- git:
+    local-name: livox_ros_driver2
+    uri: https://github.com/tongtybj/livox_ros_driver2.git
+    version: PR/ros1
+
+# fast lio
+# modification for fast odometry based on EKF
+- git:
+    local-name: fast_lio
+    uri: https://github.com/tongtybj/FAST_LIO
+    version: PR/odometry
 
 # realsense
+#- git:
+#    local-name: realsense-ros
+#    uri: https://github.com/tongtybj/realsense-ros.git
+#    version: multi_realsense_t265
+
+# mocap optitrack
 - git:
-    local-name: realsense-ros
-    uri: https://github.com/tongtybj/realsense-ros.git
-    version: multi_realsense_t265
+    local-name: mocap_optitrack
+    uri: https://github.com/sugikazu75/mocap_optitrack.git
+    version: 50fb60d

aerial_robot_estimation/CHANGELOG.rst

@@ -2,6 +2,16 @@
 Changelog for package aerial_robot_estimation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.4 (2024-11-02)
+------------------
+* [Estimation][IMU] refactor the index designation of KF based estimation result  (`#602 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/602>`_)
+* [Estimation][VO/VIO] refactor the process of KF based estimation with visual odometry (`#601 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/601>`_)
+* [Gazebo][Mocap][Subscriber] solve the topic delay related to the ground_truth pose Merge pull request (`#587 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/587>`_)
+* [CMake] use C++17 compiler for all packages that contain C++ files (`#581 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/581>`_)
+* [GPS] remove "register" specifier for GPS time calculation. (`#580 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/580>`_)
+* [Typo] Fix typos (`#563 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/563>`_)
+* [Navigation] improve the landing motion for all robots  (`#554 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/554>`_)
+
 1.3.3 (2023-10-26)
 ------------------
 * [Estimation][VO] Refactor throttle/decimate process (`#558 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/558>`_)

aerial_robot_estimation/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>aerial_robot_estimation</name>
-  <version>1.3.3</version>
+  <version>1.3.4</version>
   <description>The aerial_robot_estimation package</description>
 
   <maintainer email="[email protected]">zhao</maintainer>

aerial_robot_melodic.rosinstall

@@ -2,19 +2,19 @@
 - git:
     local-name: aerial_robot_3rdparty
     uri: https://github.com/JSKAerialRobot/aerial_robot_3rdparty.git
-    version: b10f5bf
+    version: 4085d3a
 
 # kalman filter
 - git:
     local-name: kalman_filter
     uri: https://github.com/JSKAerialRobot/kalman_filter.git
-    version: 012b925
+    version: 5c7a410
 
 # the sensor interface
 - git:
     local-name: sensor_interface
     uri: https://github.com/JSKAerialRobot/sensor_interface.git
-    version: c4570c0 
+    version: e8286e7
 
 # RTK-GPS
 # support RTK based GPS module.
@@ -50,3 +50,9 @@
 #    local-name: realsense-ros
 #    uri: https://github.com/tongtybj/realsense-ros.git
 #    version: multi_realsense_t265
+
+# mocap optitrack
+- git:
+    local-name: mocap_optitrack
+    uri: https://github.com/sugikazu75/mocap_optitrack.git
+    version: 50fb60d

aerial_robot_model/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package aerial_robot_model
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.4 (2024-11-02)
+------------------
+* [CMake] using C++17 for related packages  (`#581 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/581>`_)
+* [MuJoCo] enable to use mujoco simulatorMerge pull request (`#557 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/557>`_)
+
 1.3.3 (2023-10-26)
 ------------------
 * [Aerial Robot Model][Underactuated][Plugin] fix the wrong args assignment for model constructor (`#561 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/561>`_)

aerial_robot_model/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>aerial_robot_model</name>
-  <version>1.3.3</version>
+  <version>1.3.4</version>
   <description>The model for aerial robots</description>
 
   <maintainer email="[email protected]">Bakui Chou</maintainer>

aerial_robot_msgs/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package aerial_robot_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.4 (2024-11-02)
+------------------
+
 1.3.3 (2023-10-26)
 ------------------
 

aerial_robot_msgs/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>aerial_robot_msgs</name>
-  <version>1.3.3</version>
+  <version>1.3.4</version>
   <description>The common msgs for aerial robot platform</description>
 
   <maintainer email="[email protected]">Bakui Chou</maintainer> 

aerial_robot_nerve/motor_test/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package motor_test
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.4 (2024-11-02)
+------------------
+* [Spinal][PwmTest] send pwm value to each servo independently (`#613 <https://github.com/jsk-ros-pkg/aerial_robot/issues/613>`_)
+
 1.3.3 (2023-10-26)
 ------------------
 

aerial_robot_nerve/motor_test/CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(motor_test)
 
-add_compile_options(-std=c++14)
+add_compile_options(-std=c++17)
 
 find_package(catkin REQUIRED COMPONENTS
   roscpp