Merge branch 'master' into ros2

* master:
  1.20.1
  update changelog
  1.20.0
  update changelog
  update mavlink dep branch
  Add missing std_srvs dependency
  add param to odom plugin
  add frame_id parameter
  Fix compile error when compiling with gcc 13

Author: vooon

libmavconn/CHANGELOG.rst

@@ -16,6 +16,12 @@ Changelog for package libmavconn
 * update changelog
 * Contributors: Vladimir Ermakov
 
+1.20.1 (2025-05-05)
+-------------------
+
+1.20.0 (2024-10-10)
+-------------------
+
 1.19.0 (2024-06-06)
 -------------------
 

mavros/CHANGELOG.rst

@@ -53,6 +53,15 @@ Changelog for package mavros
   Fixed bug `#569 <https://github.com/mavlink/mavros/issues/569>`_ from mavros. Fixed another bug in the building of the ros mavlink message- the seq field was not added to the ros mavlink message.
 * Contributors: Beniamino Pozzan, Vladimir Ermakov, danielkalmanson
 
+1.20.1 (2025-05-05)
+-------------------
+
+1.20.0 (2024-10-10)
+-------------------
+* add param to odom plugin
+* add frame_id parameter
+* Contributors: EnderMandS
+
 1.19.0 (2024-06-06)
 -------------------
 * gps_global_origin: remove LLA to ECEF conversion

mavros/include/mavros/mavros_uas.hpp

@@ -379,6 +379,28 @@ class UAS : public rclcpp::Node
     const std::string & frame_id, const std::string & child_id,
     const Eigen::Affine3d & tr);
 
+	inline void set_base_link_frame_id(const std::string frame_id) {
+		base_link_frame_id = frame_id;
+	}
+	inline void set_odom_frame_id(const std::string frame_id) {
+		odom_frame_id = frame_id;
+	}
+	inline void set_map_frame_id(const std::string frame_id) {
+		map_frame_id = frame_id;
+	}
+	inline std::string get_base_link_frame_id() {
+		return base_link_frame_id;
+	}
+	inline std::string get_odom_frame_id() {
+		return odom_frame_id;
+	}
+	inline std::string get_map_frame_id() {
+		return map_frame_id;
+	}
+
+    //! Publish helper TFs used for frame transformation in the odometry plugin
+	void setup_static_tf();
+
   /* -*- time sync -*- */
 
   inline void set_time_offset(uint64_t offset_ns)

mavros/launch/px4_config.yaml

@@ -244,8 +244,9 @@
 # odom
 /**/odometry:
   ros__parameters:
-    fcu.odom_parent_id_des: "map"   # desired parent frame rotation of the FCU's odometry
+    fcu.odom_parent_id_des: "odom"        # desired parent frame rotation of the FCU's odometry
     fcu.odom_child_id_des: "base_link"    # desired child frame rotation of the FCU's odometry
+    fcu.map_id_des: "map"
 
 # px4flow
 /**/px4flow:

mavros/src/lib/mavros_uas.cpp

@@ -159,29 +159,7 @@ UAS::UAS(
       connect_to_router();
 
       // Publish helper TFs used for frame transformation in the odometry plugin
-      {
-        std::string base_link_frd = base_link_frame_id + "_frd";
-        std::string odom_ned = odom_frame_id + "_ned";
-        std::string map_ned = map_frame_id + "_ned";
-        std::vector<geometry_msgs::msg::TransformStamped> transform_vector;
-        add_static_transform(
-          map_frame_id, map_ned, Eigen::Affine3d(
-            ftf::quaternion_from_rpy(
-              M_PI, 0,
-              M_PI_2)),
-          transform_vector);
-        add_static_transform(
-          odom_frame_id, odom_ned, Eigen::Affine3d(
-            ftf::quaternion_from_rpy(
-              M_PI, 0,
-              M_PI_2)),
-          transform_vector);
-        add_static_transform(
-          base_link_frame_id, base_link_frd,
-          Eigen::Affine3d(ftf::quaternion_from_rpy(M_PI, 0, 0)), transform_vector);
-
-        tf2_static_broadcaster.sendTransform(transform_vector);
-      }
+      setup_static_tf()
 
       std::stringstream ss;
       for (auto & s : mavconn::MAVConnInterface::get_known_dialects()) {

mavros/src/lib/uas_data.cpp

@@ -20,6 +20,7 @@
 #include "mavros/utils.hpp"
 #include "mavros/px4_custom_mode.hpp"
 
+<<<<<<< HEAD
 using namespace mavros::uas;  // NOLINT
 
 std::once_flag Data::init_flag;

mavros/src/lib/uas_tf.cpp

@@ -47,3 +47,18 @@ void UAS::publish_static_transform(
 
   tf2_static_broadcaster.sendTransform(static_transform_stamped);
 }
+
+void UAS::setup_static_tf()
+{
+	std::vector<geometry_msgs::TransformStamped> transform_vector;
+	add_static_transform(map_frame_id, map_frame_id+"_ned",
+            Eigen::Affine3d(ftf::quaternion_from_rpy(M_PI, 0, M_PI_2)),
+            transform_vector);
+	add_static_transform(odom_frame_id, odom_frame_id+"_ned",
+            Eigen::Affine3d(ftf::quaternion_from_rpy(M_PI, 0, M_PI_2)),
+            transform_vector);
+	add_static_transform(base_link_frame_id, base_link_frame_id+"_frd",
+            Eigen::Affine3d(ftf::quaternion_from_rpy(M_PI, 0, 0)),
+            transform_vector);
+	tf2_static_broadcaster.sendTransform(transform_vector);
+}

mavros_extras/CHANGELOG.rst

@@ -41,6 +41,19 @@ Changelog for package mavros_extras
   Added all functionality to support a plugin to enable compatibility with MAVLink Gimbal Protocol v2
 * Contributors: Frederik Mazur Andersen, Mark-Beaty, Vladimir Ermakov
 
+1.20.1 (2025-05-05)
+-------------------
+
+1.20.0 (2024-10-10)
+-------------------
+* Add missing std_srvs dependency
+* add param to odom plugin
+* add frame_id parameter
+* Fix compile error when compiling with gcc 13
+  The error is:
+  src/plugins/mag_calibration_status.cpp:64:22: error: ‘bitset’ is not a member of ‘std’
+* Contributors: EnderMandS, Michal Sojka, Roland Arsenault
+
 1.19.0 (2024-06-06)
 -------------------
 

mavros_extras/src/plugins/odom.cpp

@@ -57,20 +57,26 @@ class OdometryPlugin : public plugin::Plugin
 
   explicit OdometryPlugin(plugin::UASPtr uas_)
   : Plugin(uas_, "odometry"),
+		fcu_map_id_des("map"),
     fcu_odom_parent_id_des("map"),
     fcu_odom_child_id_des("base_link")
   {
     enable_node_watch_parameters();
 
     // frame params:
     node_declare_and_watch_parameter(
-      "fcu.odom_parent_id_des", "map", [&](const rclcpp::Parameter & p) {
+      "fcu.odom_parent_id_des", uas_.get_odom_frame_id(), [&](const rclcpp::Parameter & p) {
         fcu_odom_parent_id_des = p.as_string();
       });
     node_declare_and_watch_parameter(
-      "fcu.odom_child_id_des", "base_link", [&](const rclcpp::Parameter & p) {
+      "fcu.odom_child_id_des", uas_.get_base_link_frame_id(), [&](const rclcpp::Parameter & p) {
         fcu_odom_child_id_des = p.as_string();
       });
+    node_declare_and_watch_parameter(
+      "fcu.map_id_des", uas_.get_map_frame_id(), [&](const rclcpp::Parameter & p) {
+        fcu_map_id_des = p.as_string();
+      });
+
 
     // publishers
     odom_pub = node->create_publisher<nav_msgs::msg::Odometry>("~/in", 10);
@@ -93,10 +99,9 @@ class OdometryPlugin : public plugin::Plugin
   rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_pub;
   rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub;
 
-  //!< desired orientation of the fcu odometry message's parent frame
-  std::string fcu_odom_parent_id_des;
-  //!< desired orientation of the fcu odometry message's child frame
-  std::string fcu_odom_child_id_des;
+	std::string fcu_odom_parent_id_des;			//!< desired orientation of the fcu odometry message's parent frame
+	std::string fcu_odom_child_id_des;			//!< desired orientation of the fcu odometry message's child frame
+	std::string fcu_map_id_des;					//!< desired orientation of the fcu map frame
 
   /**
    * @brief Lookup static transform with error handling
@@ -144,12 +149,12 @@ class OdometryPlugin : public plugin::Plugin
     Eigen::Affine3d tf_parent2parent_des;
     Eigen::Affine3d tf_child2child_des;
 
-    lookup_static_transform(
-      fcu_odom_parent_id_des, fcu_odom_parent_id_des + "_ned",
-      tf_parent2parent_des);
-    lookup_static_transform(
-      fcu_odom_child_id_des, fcu_odom_child_id_des + "_frd",
-      tf_child2child_des);
+		lookup_static_transform(
+                fcu_map_id_des, fcu_map_id_des+"_ned",
+                tf_parent2parent_des);
+		lookup_static_transform(
+                fcu_odom_child_id_des, fcu_odom_child_id_des+"_frd",
+                tf_child2child_des);
 
     //! Build 6x6 pose covariance matrix to be transformed and sent
     Matrix6d cov_pose = Matrix6d::Zero();

mavros_extras/src/plugins/wheel_odometry.cpp

@@ -98,12 +98,12 @@ class WheelOdometryPlugin : public plugin::Plugin
       });
 
     node_declare_and_watch_parameter(
-      "frame_id", "odom", [&](const rclcpp::Parameter & p) {
+      "frame_id", uas_.get_odom_frame_id(), [&](const rclcpp::Parameter & p) {
         frame_id = p.as_string();
       });
 
     node_declare_and_watch_parameter(
-      "child_frame_id", "base_link", [&](const rclcpp::Parameter & p) {
+      "child_frame_id", uas_.get_base_link_frame_id(), [&](const rclcpp::Parameter & p) {
         frame_id = p.as_string();
       });
 
@@ -115,12 +115,12 @@ class WheelOdometryPlugin : public plugin::Plugin
 
     // TF subsection
     node_declare_and_watch_parameter(
-      "tf.frame_id", "odom", [&](const rclcpp::Parameter & p) {
+      "tf.frame_id", uas_.get_odom_frame_id(), [&](const rclcpp::Parameter & p) {
         tf_frame_id = p.as_string();
       });
 
     node_declare_and_watch_parameter(
-      "tf.child_frame_id", "base_link", [&](const rclcpp::Parameter & p) {
+      "tf.child_frame_id", uas_.get_base_link_frame_id(), [&](const rclcpp::Parameter & p) {
         tf_child_frame_id = p.as_string();
       });