From 20c15364e26117669fcfd3fa11170a5034d528a3 Mon Sep 17 00:00:00 2001 From: Beniamino Pozzan Date: Thu, 4 Apr 2024 13:39:42 +0100 Subject: [PATCH 1/3] 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 Signed-off-by: Beniamino Pozzan --- mavros/src/plugins/global_position.cpp | 17 +---------------- 1 file changed, 1 insertion(+), 16 deletions(-) diff --git a/mavros/src/plugins/global_position.cpp b/mavros/src/plugins/global_position.cpp index c8e35f395..d8ef442d3 100644 --- a/mavros/src/plugins/global_position.cpp +++ b/mavros/src/plugins/global_position.cpp @@ -233,22 +233,7 @@ class GlobalPositionPlugin : public plugin::PluginBase { g_origin->position.longitude = glob_orig.longitude / 1E7; g_origin->position.altitude = glob_orig.altitude / 1E3 + m_uas->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) { - ROS_INFO_STREAM("GP: Caught exception: " << e.what() << std::endl); - } + gp_global_origin_pub.publish(g_origin); } /** @todo Handler for GLOBAL_POSITION_INT_COV */ From 25338cde6e1819185d3816839e09d8582625175e Mon Sep 17 00:00:00 2001 From: Vladimir Ermakov Date: Thu, 6 Jun 2024 14:17:18 +0200 Subject: [PATCH 2/3] update changelog --- libmavconn/CHANGELOG.rst | 3 +++ mavros/CHANGELOG.rst | 10 ++++++++++ mavros_extras/CHANGELOG.rst | 3 +++ mavros_msgs/CHANGELOG.rst | 3 +++ test_mavros/CHANGELOG.rst | 3 +++ 5 files changed, 22 insertions(+) diff --git a/libmavconn/CHANGELOG.rst b/libmavconn/CHANGELOG.rst index 80c301474..7f015ad71 100644 --- a/libmavconn/CHANGELOG.rst +++ b/libmavconn/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package libmavconn ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.18.0 (2024-03-03) ------------------- diff --git a/mavros/CHANGELOG.rst b/mavros/CHANGELOG.rst index 5d7c7b682..df6f100b0 100644 --- a/mavros/CHANGELOG.rst +++ b/mavros/CHANGELOG.rst @@ -2,6 +2,16 @@ Changelog for package mavros ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* 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 + 1.18.0 (2024-03-03) ------------------- * sys_status.cpp: improve timeout code diff --git a/mavros_extras/CHANGELOG.rst b/mavros_extras/CHANGELOG.rst index 45adc4dcf..cb8ac4667 100644 --- a/mavros_extras/CHANGELOG.rst +++ b/mavros_extras/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package mavros_extras ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.18.0 (2024-03-03) ------------------- * [camera plugin] Fix image_index and capture_result not properly filled diff --git a/mavros_msgs/CHANGELOG.rst b/mavros_msgs/CHANGELOG.rst index a2b3709a4..d0bc4f0df 100644 --- a/mavros_msgs/CHANGELOG.rst +++ b/mavros_msgs/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package mavros_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.18.0 (2024-03-03) ------------------- * sys_status.cpp: Add a SYS_STATUS message publisher diff --git a/test_mavros/CHANGELOG.rst b/test_mavros/CHANGELOG.rst index 1c98394ef..214acd738 100644 --- a/test_mavros/CHANGELOG.rst +++ b/test_mavros/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package test_mavros ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.18.0 (2024-03-03) ------------------- From a739960397af7de56d917a0317ac43b3fe1426cf Mon Sep 17 00:00:00 2001 From: Vladimir Ermakov Date: Thu, 6 Jun 2024 12:18:04 +0000 Subject: [PATCH 3/3] 1.19.0 --- libmavconn/CHANGELOG.rst | 4 ++-- libmavconn/package.xml | 2 +- mavros/CHANGELOG.rst | 4 ++-- mavros/package.xml | 2 +- mavros_extras/CHANGELOG.rst | 4 ++-- mavros_extras/package.xml | 2 +- mavros_msgs/CHANGELOG.rst | 4 ++-- mavros_msgs/package.xml | 2 +- test_mavros/CHANGELOG.rst | 4 ++-- test_mavros/package.xml | 2 +- 10 files changed, 15 insertions(+), 15 deletions(-) diff --git a/libmavconn/CHANGELOG.rst b/libmavconn/CHANGELOG.rst index 7f015ad71..f22006f01 100644 --- a/libmavconn/CHANGELOG.rst +++ b/libmavconn/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package libmavconn ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.19.0 (2024-06-06) +------------------- 1.18.0 (2024-03-03) ------------------- diff --git a/libmavconn/package.xml b/libmavconn/package.xml index 311d0d166..641541e67 100644 --- a/libmavconn/package.xml +++ b/libmavconn/package.xml @@ -1,7 +1,7 @@ libmavconn - 1.18.0 + 1.19.0 MAVLink communication library. This library provide unified connection handling classes diff --git a/mavros/CHANGELOG.rst b/mavros/CHANGELOG.rst index df6f100b0..a7475f88c 100644 --- a/mavros/CHANGELOG.rst +++ b/mavros/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package mavros ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.19.0 (2024-06-06) +------------------- * gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped diff --git a/mavros/package.xml b/mavros/package.xml index d7a30a6f6..d36fdd58d 100644 --- a/mavros/package.xml +++ b/mavros/package.xml @@ -1,7 +1,7 @@ mavros - 1.18.0 + 1.19.0 MAVROS -- MAVLink extendable communication node for ROS with proxy for Ground Control Station. diff --git a/mavros_extras/CHANGELOG.rst b/mavros_extras/CHANGELOG.rst index cb8ac4667..df1e9245b 100644 --- a/mavros_extras/CHANGELOG.rst +++ b/mavros_extras/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package mavros_extras ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.19.0 (2024-06-06) +------------------- 1.18.0 (2024-03-03) ------------------- diff --git a/mavros_extras/package.xml b/mavros_extras/package.xml index a705e7ada..18c7a39aa 100644 --- a/mavros_extras/package.xml +++ b/mavros_extras/package.xml @@ -1,7 +1,7 @@ mavros_extras - 1.18.0 + 1.19.0 Extra nodes and plugins for MAVROS. diff --git a/mavros_msgs/CHANGELOG.rst b/mavros_msgs/CHANGELOG.rst index d0bc4f0df..a1790fa83 100644 --- a/mavros_msgs/CHANGELOG.rst +++ b/mavros_msgs/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package mavros_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.19.0 (2024-06-06) +------------------- 1.18.0 (2024-03-03) ------------------- diff --git a/mavros_msgs/package.xml b/mavros_msgs/package.xml index 0bc299b5e..d83207030 100644 --- a/mavros_msgs/package.xml +++ b/mavros_msgs/package.xml @@ -1,7 +1,7 @@ mavros_msgs - 1.18.0 + 1.19.0 mavros_msgs defines messages for MAVROS. diff --git a/test_mavros/CHANGELOG.rst b/test_mavros/CHANGELOG.rst index 214acd738..c456ccfda 100644 --- a/test_mavros/CHANGELOG.rst +++ b/test_mavros/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package test_mavros ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +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