Merge branch 'master' into ros2

* master: 1.19.0 update changelog gps_global_origin: remove LLA to ECEF conversion
mavlink · Jun 7, 2024 · 935a4bd · 935a4bd
2 parents 5646ba4 + a739960
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diff --git a/libmavconn/CHANGELOG.rst b/libmavconn/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package libmavconn
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.19.0 (2024-06-06)
+-------------------
+
 2.7.0 (2024-03-03)
 ------------------
 * Merge branch 'master' into ros2

diff --git a/mavros/CHANGELOG.rst b/mavros/CHANGELOG.rst
@@ -2,6 +2,16 @@
 Changelog for package mavros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.19.0 (2024-06-06)
+-------------------
+* gps_global_origin: remove LLA to ECEF conversion
+  gps_global_origin is being published as
+  geographic_msgs::GeoPointStamped
+  message, which wants LLA format
+  https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html
+  FIX https://github.com/mavlink/mavros/issues/1381
+* Contributors: Beniamino Pozzan
+
 2.7.0 (2024-03-03)
 ------------------
 * Merge branch 'master' into ros2

diff --git a/mavros/src/plugins/global_position.cpp b/mavros/src/plugins/global_position.cpp
@@ -289,22 +289,7 @@ class GlobalPositionPlugin : public plugin::Plugin
     g_origin.position.altitude = glob_orig.altitude / 1E3 + uas->data.geoid_to_ellipsoid_height(
       g_origin.position);  // convert height amsl to height above the ellipsoid
 
-    try {
-      /**
-       * @brief Conversion from geodetic coordinates (LLA) to ECEF (Earth-Centered, Earth-Fixed)
-       * Note: "earth" frame, in ECEF, of the global origin
-       */
-      GeographicLib::Geocentric earth(GeographicLib::Constants::WGS84_a(),
-        GeographicLib::Constants::WGS84_f());
-
-      earth.Forward(
-        g_origin.position.latitude, g_origin.position.longitude, g_origin.position.altitude,
-        g_origin.position.latitude, g_origin.position.longitude, g_origin.position.altitude);
-
-      gp_global_origin_pub->publish(g_origin);
-    } catch (const std::exception & e) {
-      RCLCPP_ERROR_STREAM(get_logger(), "GP: Caught exception: " << e.what());
-    }
+    gp_global_origin_pub->publish(g_origin);
   }
 
   /** @todo Handler for GLOBAL_POSITION_INT_COV */

diff --git a/mavros_extras/CHANGELOG.rst b/mavros_extras/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mavros_extras
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.19.0 (2024-06-06)
+-------------------
+
 2.7.0 (2024-03-03)
 ------------------
 * re-generate with cogall.sh

diff --git a/mavros_msgs/CHANGELOG.rst b/mavros_msgs/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mavros_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.19.0 (2024-06-06)
+-------------------
+
 2.7.0 (2024-03-03)
 ------------------
 * re-generate with cogall.sh

diff --git a/test_mavros/CHANGELOG.rst b/test_mavros/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package test_mavros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.19.0 (2024-06-06)
+-------------------
+
 1.18.0 (2024-03-03)
 -------------------
 

diff --git a/test_mavros/package.xml b/test_mavros/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>test_mavros</name>
-  <version>1.18.0</version>
+  <version>1.19.0</version>
   <description>Tests for MAVROS package</description>
 
   <maintainer email="[email protected]">Vladimir Ermakov</maintainer>