Merge branch 'newRelease'

gsilano · Dec 28, 2019 · 2bb750e · 2bb750e
2 parents 6133829 + aaa408e
commit 2bb750e
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diff --git a/.travis.yml b/.travis.yml
@@ -20,7 +20,7 @@
 #     `wstool`, and should be listed in a file named dependencies.rosinstall.
 #
 # There are two variables you may want to change:
-#   - ROS_DISTRO (default is indigo, but also kinetic is now compatible). Note that 
+#   - ROS_DISTRO (default is indigo, but also kinetic is now compatible). Note that
 #     packages must be available for ubuntu 14.04 trusty and xenial 16.04, respectively.
 #
 # See the README.md for more information.
@@ -52,7 +52,11 @@ matrix:
       dist: xenial
       sudo: required
       env: ROS_DISTRO=kinetic
-
+    - os: linux
+      dist: bionic
+      sudo: required
+      env: ROS_DISTRO=melodic
+
 language:
   - generic
 cache:
@@ -81,8 +85,9 @@ before_install:
   - if [[ "$ROS_DISTRO" == "kinetic" ]]; then sudo rm /var/lib/dpkg/lock; fi
   - if [[ "$ROS_DISTRO" == "kinetic" ]]; then sudo dpkg --configure -a; fi
   - sudo apt-get update
-  - sudo apt-get install ros-$ROS_DISTRO-desktop-full ros-$ROS_DISTRO-joy ros-$ROS_DISTRO-octomap-ros python-wstool python-catkin-tools
-  - sudo apt-get install protobuf-compiler libgoogle-glog-dev
+  - sudo apt-get install ros-$ROS_DISTRO-desktop-full ros-$ROS_DISTRO-joy ros-$ROS_DISTRO-octomap-ros ros-$ROS_DISTRO-mavlink
+  - sudo apt-get install python-wstool python-catkin-tools python-rosinstall build-essential
+  - sudo apt-get install protobuf-compiler libgoogle-glog-dev python-rosinstall-generator
   # Prepare rosdep to install dependencies.
   - sudo rosdep init
   - rosdep update
@@ -98,9 +103,11 @@ install:
   # source it to set the path variables.
   - git clone https://github.com/gsilano/CrazyS.git
   - git clone https://github.com/gsilano/mav_comm.git
-  - cd ~/catkin_ws/src/mav_comm 
-  - git checkout crazys
-  - rosdep update
+  - if [[ "$ROS_DISTRO" == "melodic" ]]; then cd ~/catkin_ws/src/CrazyS; fi
+  - if [[ "$ROS_DISTRO" == "melodic" ]]; then git checkout dev/ros-melodic; fi
+  - cd ~/catkin_ws/src/mav_comm
+  - if [[ "$ROS_DISTRO" == "kinetic" ]]; then git checkout crazys; fi
+  - if [[ "$ROS_DISTRO" == "melodic" ]]; then git checkout med18_gazebo9; fi
   - cd ~/catkin_ws
   - rosdep install --from-paths src -i
   - catkin build

diff --git a/README.md b/README.md
diff --git a/rotors_comm/CHANGELOG.rst b/rotors_comm/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package rotors_comm
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.7 (2019-12-28)
+------------------
+
 4.0.6 (2019-01-04)
 ------------------
 

diff --git a/rotors_comm/package.xml b/rotors_comm/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>rotors_comm</name>
-  <version>4.0.6</version>
+  <version>4.0.7</version>
   <description>RotorS specific messages and services.</description>
 
   <maintainer email="[email protected]">Giuseppe Silano</maintainer>

diff --git a/rotors_control/CHANGELOG.rst b/rotors_control/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package rotors_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.7 (2019-12-28)
+------------------
+
 4.0.6 (2019-01-04)
 ------------------
 * Changes in the position controller libray to fix issue in the building process
@@ -38,4 +41,3 @@ Changelog for package rotors_control
 * added Crazyflie 2.0 position controller. The lower level controller is the same of the Crazyflie 2.0 firmware (released 2018.01.01)
 * started from the 2.1.1 (2017-04-27) release version of RotorS
 * Contributors: Giuseppe Silano, Emanuele Aucone, Benjamin Rodriguez, Luigi Iannelli
-
diff --git a/rotors_control/package.xml b/rotors_control/package.xml
@@ -1,11 +1,11 @@
 <package>
   <name>rotors_control</name>
-  <version>4.0.6</version>
+  <version>4.0.7</version>
   <description>RotorS control package</description>
 
   <maintainer email="[email protected]">Giuseppe Silano</maintainer>
   <maintainer email="[email protected]">Luigi Iannelli</maintainer>
-  
+
   <author>Giuseppe Silano</author>
   <author>Emanuele Aucone</author>
   <author>Benjamin Rodriguez</author>

diff --git a/rotors_description/CHANGELOG.rst b/rotors_description/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package rotors_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.7 (2019-12-28)
+------------------
+* Deleted pi constant in the component_snippest file.
+* Contributors: Giuseppe Silano
+
 4.0.6 (2019-01-04)
 ------------------
 
@@ -27,4 +32,3 @@ Changelog for package rotors_description
 * added Crazyflie 2.0 urdf: crazyflie2.xacro and crazyflie2_base.xacro. The MPU-9250 IMU plugin is under developing.
 * added Crazyflie 2.0 mesh file
 * Contributors: Giuseppe Silano, Emanuele Aucone, Benjamin Rodriguez, Luigi Iannelli
-
diff --git a/rotors_description/package.xml b/rotors_description/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>rotors_description</name>
-  <version>4.0.6</version>
+  <version>4.0.7</version>
   <description>The rotors_description package provides URDF models of the AscTec multicopters.</description>
 
   <maintainer email="[email protected]">Giuseppe Silano</maintainer>

diff --git a/rotors_description/urdf/component_snippets.xacro b/rotors_description/urdf/component_snippets.xacro
@@ -22,7 +22,6 @@
 -->
 
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:property name="pi" value="3.14159265359" />
 
   <!-- Macro to add logging to a bag file. -->
   <xacro:macro name="bag_plugin_macro"
@@ -263,11 +262,11 @@
       </plugin>
     </gazebo>
   </xacro:macro>
-  
+
   <!-- =============================================================== -->
   <!-- ==================== ROS INTERFACE MACRO ====================== -->
   <!-- =============================================================== -->
-  <!-- <xacro:macro 
+  <!-- <xacro:macro
   		name="ros_interface_plugin_macro"
   		params="namespace">
     <gazebo>
@@ -280,10 +279,10 @@
   <!-- =============================================================== -->
   <!-- ================== MAVLINK INTERFACE MACRO ==================== -->
   <!-- =============================================================== -->
-  <xacro:macro name="mavlink_interface_macro" 
-    params="namespace mavlink_sub_topic imu_sub_topic mavlink_pub_topic 
-      motors_speeds_pub_topic gps_update_freq rotor_count reference_magnetic_field_north 
-      reference_magnetic_field_east reference_magnetic_field_down reference_latitude 
+  <xacro:macro name="mavlink_interface_macro"
+    params="namespace mavlink_sub_topic imu_sub_topic mavlink_pub_topic
+      motors_speeds_pub_topic gps_update_freq rotor_count reference_magnetic_field_north
+      reference_magnetic_field_east reference_magnetic_field_down reference_latitude
       reference_longitude reference_altitude">
     <gazebo>
       <plugin name="mavlink_interface" filename="librotors_gazebo_mavlink_interface.so">
@@ -296,7 +295,7 @@
 	<rotorCount>${rotor_count}</rotorCount>
         <!-- [Gauss] Below are the North, East, and Down components of the Earth's magnetic field at the reference location.
              The default reference location is Zurich (lat=+47.3667degN, lon=+8.5500degE, h=+500m, WGS84).
-	     You can obtain the magnetic field strength for your location using the World Magnetic Model: 
+	     You can obtain the magnetic field strength for your location using the World Magnetic Model:
              https://www.ngdc.noaa.gov/geomag/WMM/calculators.shtml -->
         <referenceMagNorth>${reference_magnetic_field_north}</referenceMagNorth>
         <referenceMagEast>${reference_magnetic_field_east}</referenceMagEast>
@@ -311,7 +310,7 @@
   <!-- Macro to add an IMU. -->
   <xacro:macro name="imu_plugin_macro"
     params="namespace imu_suffix parent_link imu_topic
-      mass_imu_sensor measurement_divisor measurement_delay gyroscope_noise_density 
+      mass_imu_sensor measurement_divisor measurement_delay gyroscope_noise_density
       gyroscope_random_walk gyroscope_bias_correlation_time gyroscope_turn_on_bias_sigma
       accelerometer_noise_density accelerometer_random_walk
       accelerometer_bias_correlation_time accelerometer_turn_on_bias_sigma
@@ -488,7 +487,7 @@
   <!-- Macro to add a magnetometer. -->
   <xacro:macro name="magnetometer_plugin_macro"
     params="namespace magnetometer_suffix parent_link magnetometer_topic
-      mass_magnetometer_sensor ref_mag_north ref_mag_east ref_mag_down 
+      mass_magnetometer_sensor ref_mag_north ref_mag_east ref_mag_down
       noise_normal noise_uniform_initial_bias *inertia *origin">
     <!-- Magnetometer link -->
     <link name="${namespace}/magnetometer${magnetometer_suffix}_link">
@@ -512,7 +511,7 @@
         <magnetometerTopic>${magnetometer_topic}</magnetometerTopic> <!-- (string): name of the sensor output topic and prefix of service names (defaults to 'magnetic_field') -->
         <!-- [Tesla] Below is the reference Earth's magnetic field at the reference location in NED frame.
              The default reference location is Zurich (lat=+47.3667degN, lon=+8.5500degE, h=+500m, WGS84).
-	     You can obtain the magnetic field strength for your location using the World Magnetic Model: 
+	     You can obtain the magnetic field strength for your location using the World Magnetic Model:
              http://www.ngdc.noaa.gov/geomag-web/#igrfwmm -->
         <refMagNorth>${ref_mag_north}</refMagNorth>
         <refMagEast>${ref_mag_east}</refMagEast>
@@ -558,7 +557,7 @@
   <xacro:macro name="wind_plugin_macro"
     params="namespace xyz_offset wind_direction wind_force_mean
       wind_gust_direction wind_gust_duration wind_gust_start
-      wind_gust_force_mean wind_speed_mean use_custom_static_wind_field 
+      wind_gust_force_mean wind_speed_mean use_custom_static_wind_field
       custom_wind_field_path">
     <gazebo>
       <plugin filename="librotors_gazebo_wind_plugin.so" name="wind_plugin">
@@ -922,7 +921,7 @@
       gyroscope_noise_density="0.000175"
       gyroscope_random_walk="0.0105"
       gyroscope_bias_correlation_time="1000.0"
-      gyroscope_turn_on_bias_sigma= "0.09" 
+      gyroscope_turn_on_bias_sigma= "0.09"
       accelerometer_noise_density="0.003"
       accelerometer_random_walk="0.18"
       accelerometer_bias_correlation_time="300.0"

diff --git a/rotors_evaluation/CHANGELOG.rst b/rotors_evaluation/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package rotors_evaluation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.7 (2019-12-28)
+------------------
+
 4.0.6 (2019-01-04)
 ------------------
 

diff --git a/rotors_evaluation/package.xml b/rotors_evaluation/package.xml
@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
 <package>
   <name>rotors_evaluation</name>
-  <version>4.0.6</version>
+  <version>4.0.7</version>
   <description>The dataset evaluation package for the RotorS simulator.</description>
 
   <maintainer email="[email protected]">Giuseppe Silano</maintainer>
   <maintainer email="[email protected]">Luigi Iannelli</maintainer>
-  
+
   <author>Giuseppe Silano</author>
   <author>Emanuele Aucone</author>
   <author>Benjamin Rodriguez</author>

diff --git a/rotors_gazebo/CHANGELOG.rst b/rotors_gazebo/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package rotors_gazebo
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.7 (2019-12-28)
+------------------
+* Disable shadows
+* Fix issue related to "xacro.py is deprecated; please use xacro instead"
+* Contributors: Giuseppe Silano
+
 4.0.6 (2019-01-04)
 ------------------
 

diff --git a/rotors_gazebo/launch/spawn_mav_crazyflie.launch b/rotors_gazebo/launch/spawn_mav_crazyflie.launch
@@ -17,7 +17,7 @@
 
   <!-- send the robot XML to param server -->
   <param name="robot_description" command="
-    $(find xacro)/xacro.py '$(arg model)'
+    $(find xacro)/xacro --inorder '$(arg model)'
     enable_logging:=$(arg enable_logging)
     enable_ground_truth:=$(arg enable_ground_truth)
     enable_state_estimator:=$(arg enable_state_estimator)

diff --git a/rotors_gazebo/package.xml b/rotors_gazebo/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>rotors_gazebo</name>
-  <version>4.0.6</version>
+  <version>4.0.7</version>
   <description>The rotors_gazebo package</description>
 
   <maintainer email="[email protected]">Giuseppe Silano</maintainer>

diff --git a/rotors_gazebo/worlds/basic_crazyflie.world b/rotors_gazebo/worlds/basic_crazyflie.world
@@ -8,6 +8,11 @@
       <uri>model://sun</uri>
     </include>
 
+    <!-- Turn off the shadows -->
+    <scene>
+      <shadows>0</shadows>
+    </scene>
+
     <!-- Only one ROS interface plugin is required per world, as any other plugin can connect a Gazebo
          topic to a ROS topic (or vise versa). -->
     <plugin name="ros_interface_plugin" filename="librotors_gazebo_ros_interface_plugin.so"/>

diff --git a/rotors_gazebo_plugins/CHANGELOG.rst b/rotors_gazebo_plugins/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package rotors_gazebo_plugins
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.7 (2019-12-28)
+------------------
+
 4.0.6 (2019-01-04)
 ------------------
 

diff --git a/rotors_gazebo_plugins/package.xml b/rotors_gazebo_plugins/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>rotors_gazebo_plugins</name>
-  <version>4.0.6</version>
+  <version>4.0.7</version>
   <description>The rotors_gazebo_plugins package</description>
 
   <maintainer email="[email protected]">Giuseppe Silano</maintainer>

diff --git a/rotors_hil_interface/CHANGELOG.rst b/rotors_hil_interface/CHANGELOG.rst