Squashed commits from origin/master with the following latest commit:

commit 7ac7184
Merge: e11261e 212c717
Author: 趙　漠居(Zhao, Moju) <[email protected]>
Date:   Mon Apr 15 09:57:03 2024 +0900

    Merge pull request jsk-ros-pkg#610 from sugikazu75/PR/package/depend

    [Package.xml] Resolve dependency to other package

.clang-format

@@ -0,0 +1,63 @@
+---
+BasedOnStyle: Google
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: true
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+BinPackParameters: true
+ColumnLimit: 120
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakString: 1
+PenaltyBreakFirstLessLess: 1000
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 90
+SpacesBeforeTrailingComments: 2
+Cpp11BracedListStyle: false
+Standard: Auto
+IndentWidth: 2
+TabWidth: 2
+UseTab: Never
+IndentFunctionDeclarationAfterType: false
+SpacesInParentheses: false
+SpacesInAngles: false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+ContinuationIndentWidth: 4
+SortIncludes: false
+SpaceAfterCStyleCast: false
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping:
+  AfterClass: true
+  AfterControlStatement: 'true'
+  AfterEnum: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+  AfterUnion: true
+  BeforeCatch: true
+  BeforeElse: true
+  IndentBraces: false

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,24 @@
+### What is this
+
+Please briefly explain the purpose and the result of this PR.
+
+### Details
+
+Please explain the contribution of this PR in detail.
+
+- commit1:
+- commit2:
+- commit3:
+
+### TODO
+
+If there is still some work to do. Plase list up as follows:
+
+- [ ] todo1
+- [ ] todo2
+- [ ] todo3
+
+
+### Video
+
+Please attach video for better understanding if possible

.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
+          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

.github/workflows/uml.yml

@@ -0,0 +1,19 @@
+name: generate plantuml
+on: push
+jobs:
+  generate_plantuml:
+    runs-on: ubuntu-latest
+    name: plantuml
+    steps:
+      - name: checkout
+        uses: actions/checkout@v1
+        with:
+          fetch-depth: 1
+      - name: plantuml
+        id: plantuml
+        uses: grassedge/[email protected]
+        with:
+          path: docs/UMLs
+          message: "Render PlantUML files"
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -6,7 +6,8 @@
 .LSOverride
 
 # Icon must end with two \r
-Icon
+Icon
+
 
 # Thumbnails
 ._*
@@ -101,4 +102,12 @@ tags
 
 
 # python
-*.pyc
+*.pyc
+
+# Jetbrains
+.idea/
+*cmake-build-debug/
+
+# mujoco
+MUJOCO_LOG.txt
+robots/**/mujoco

.pre-commit-config.yaml

@@ -0,0 +1,32 @@
+---
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v2.3.0
+    hooks:
+      - id: check-yaml
+      - id: check-xml
+      - id: check-json
+      - id: end-of-file-fixer
+      - id: trailing-whitespace
+      - id: check-added-large-files
+
+    # Python
+  - repo: https://github.com/psf/black
+    rev: 22.10.0
+    hooks:
+      - id: black
+        language: python
+        args: [--line-length=120]
+
+    # C++
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v17.0.3
+    hooks:
+      - id: clang-format
+
+#    # YAML  - still bad support for comments in YAML files
+#  - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
+#    rev: 0.2.1    # or other specific tag
+#    hooks:
+#      - id: yamlfmt
+#        args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '120']

.travis.sh

@@ -33,7 +33,7 @@ rosdep update --include-eol-distros
 # Install source code
 mkdir -p ~/catkin_ws/src
 cd ~/catkin_ws
-ln -sf ${CI_SOURCE_PATH} src/${REPOSITORY_NAME}
+cp -r ${CI_SOURCE_PATH} src/${REPOSITORY_NAME} # copy the whole contents instead of create symbolic link
 wstool init src
 wstool merge -t src src/${REPOSITORY_NAME}/aerial_robot_${ROS_DISTRO}.rosinstall
 wstool update -t src
@@ -59,6 +59,16 @@ if [ ${ROS_DISTRO} = 'kinetic' ]; then
     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 -p1 -j1 --no-status

README.md

@@ -22,5 +22,3 @@ catkin build
 
 ## Demo
 Please check instruction in [wiki](https://github.com/JSKAerialRobot/aerial_robot/wiki).
-
-

aerial_robot/CHANGELOG.rst

@@ -2,6 +2,13 @@
 Changelog for package aerial_robot
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+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>`_)
+
+1.3.2 (2023-02-01)
+------------------
+
 1.3.1 (2022-07-02)
 ------------------
 * Support ROS Noetic with Ubuntu Focal (`#507 <https://github.com/jsk-ros-pkg/aerial_robot/issues/507>`_)

aerial_robot/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>aerial_robot</name>
-  <version>1.3.1</version>
+  <version>1.3.3</version>
   <description>Software of JSK lab for aerial robot</description>
 
   <maintainer email="[email protected]">Moju Zhao</maintainer>
@@ -20,6 +20,7 @@
   <exec_depend>dragon</exec_depend>
   <exec_depend>hydrus</exec_depend>
   <exec_depend>hydrus_xi</exec_depend>
+  <exec_depend>mini_quadrotor</exec_depend>
   <exec_depend>motor_test</exec_depend>
   <exec_depend>spinal</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 3">python-is-python3</exec_depend>

aerial_robot_base/CHANGELOG.rst

@@ -2,6 +2,16 @@
 Changelog for package aerial_robot_base
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+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>`_)
+* [Estimate][IMU] add standard configuration for spianl IMU
+* [Robot Control] refactor the control framework (`#526 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/526>`_ )
+* [Robot Model] refactor the robot modelling framework (`#525 <https://github.com/jsk-ros-pkg/jsk_aerial_robot/issues/525>`_)
+
+1.3.2 (2023-02-01)
+------------------
+
 1.3.1 (2022-07-02)
 ------------------
 * [aerial_robot_base]  Explicitly stop timer and async spinner for safe destruction (`#515 <https://github.com/jsk-ros-pkg/aerial_robot/issues/515>`_)

aerial_robot_base/CMakeLists.txt

@@ -14,7 +14,7 @@ find_package(catkin REQUIRED COMPONENTS
 
 catkin_python_setup()
 
-add_compile_options(-std=c++14)
+add_compile_options(-std=c++17)
 
 catkin_package(
   INCLUDE_DIRS include

aerial_robot_base/bin/rosbag_control_data.sh

@@ -1,3 +1,3 @@
 #!/bin/bash
 
-rosrun aerial_robot_base rosbag_raw_sensors.sh $1 rosout rosout_agg $1/four_axes/command $1/rpy/pid  $1/rpy/gain $1/debug/pose/pid $1/desire_coordinate $1/flight_config_cmd $1/kf/imu1/data  $1/kf/alt1/data $1/kf/gps1/data $1/kf/mocap1/data $1/kf/vo1/data $1/ground_truth $1/debug/four_axes/gain $1/motor_info $1/p_matrix_pseudo_inverse_inertia $1/servo/torque_enable $1/servo/target_states /tf_static /tf $1/uav/baselink/odom $1/uav/cog/odom $1/uav/full_state $1/uav_info $1/uav_power $1/uav/nav $1/joints_ctrl $1/joint_states  ${@:2}
+rosrun aerial_robot_base rosbag_raw_sensors.sh $1 rosout rosout_agg $1/four_axes/command $1/rpy/pid  $1/rpy/gain $1/debug/pose/pid $1/desire_coordinate $1/flight_config_cmd $1/kf/imu1/data  $1/kf/alt1/data $1/kf/gps1/data $1/kf/mocap1/data $1/kf/vo1/data $1/ground_truth $1/debug/four_axes/gain $1/motor_info $1/p_matrix_pseudo_inverse_inertia $1/servo/torque_enable $1/servo/target_states /tf_static /tf $1/uav/baselink/odom $1/uav/cog/odom $1/uav/full_state $1/uav_info $1/uav_power $1/uav/nav $1/joints_ctrl $1/joint_states $1/joy ${@:2}

aerial_robot_base/config/sensors/imu/spinal.yaml

@@ -0,0 +1,9 @@
+sensor_plugin:
+        imu:
+                imu_topic_name: imu
+                level_acc_noise_sigma: 0.05
+                z_acc_noise_sigma: 0.05
+                level_acc_bias_noise_sigma: 0.001 # (> 0 means to do the acc bias estimation by kalman filter)
+                z_acc_bias_noise_sigma: 0.001 # (= 0 means not to do the acc bias estimation by kalman filter)
+                angle_bias_noise_sigma: 0.0002 #good for EKF
+                calib_time: 2.0

aerial_robot_base/config/sensors/lio/livox_mid360.yaml

@@ -0,0 +1,16 @@
+sensor_plugin:
+  vo:
+    vo_sub_topic_name: Odometry_precede
+    level_pos_noise_sigma: 0.01  # 0.01 is better that 0.001
+    z_pos_noise_sigma: 0.01 # 0.01 is better than 0.001
+    z_vel_mode: false
+    vel_noise_sigma: 0.01 # TODO: modification
+    sensor_frame: lidar_imu
+    reference_frame: fc
+    vio_mode: true
+    local_vel_mode: false # the twist/twist/velocity is described in global frame
+    time_sync: false
+    reset_duration: 0.5
+
+    fusion_mode: 2 # ONLY_POS_MODE = 0, ONLY_VEL_MODE = 1, POS_VEL_MODE = 2
+    #param_verbose: true

aerial_robot_base/include/aerial_robot_base/aerial_robot_base.h

@@ -3,10 +3,10 @@
 #include <ros/ros.h>
 #include <ros/callback_queue.h>
 #include <pluginlib/class_loader.h>
-#include <aerial_robot_control/control/control_base.h>
+#include <aerial_robot_control/control/base/base.h>
 #include <aerial_robot_control/flight_navigation.h>
 #include <aerial_robot_estimation/state_estimation.h>
-#include <aerial_robot_model/transformable_aerial_robot_model_ros.h>
+#include <aerial_robot_model/model/aerial_robot_model_ros.h>
 
 using namespace std;
 

aerial_robot_base/launch/external_module/mocap.launch

@@ -6,8 +6,7 @@
     type="mocap_node"
     name="mocap_node"
     respawn="false"
-    launch-prefix=""
-    required="true">
+    launch-prefix="">
     <rosparam subst_value="true">
       rigid_bodies:
          '$(arg robot_id)':

aerial_robot_base/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>aerial_robot_base</name>
-  <version>1.3.1</version>
+  <version>1.3.3</version>
   <description>The base for aerial robots</description>
 
   <maintainer email="[email protected]">Bakui Chou</maintainer>