diff --git a/libmavconn/CHANGELOG.rst b/libmavconn/CHANGELOG.rst index f92db7917..f5ce1c3d7 100644 --- 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 index 98cda0e31..80be87614 100644 --- 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 index 171e93110..77a741359 100644 --- 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 index 763777f61..67a643aa3 100644 --- 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 index eb8cd836c..bce8a13f7 100644 --- 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 index 1c98394ef..c456ccfda 100644 --- 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 index c10efa19e..df4ba9c74 100644 --- a/test_mavros/package.xml +++ b/test_mavros/package.xml @@ -1,7 +1,7 @@ test_mavros - 1.18.0 + 1.19.0 Tests for MAVROS package Vladimir Ermakov