naming: changed naming to constently be px4-ros2

.github/workflows/build_and_test.yml

@@ -38,7 +38,7 @@ jobs:
               },
               "test": {
                 "packages-select-regex": [
-                  "px4_sdk_cpp"
+                  "px4_ros2_cpp"
                 ],
                 "ctest-args": [
                   "-R", "unit_tests"
@@ -55,5 +55,5 @@ jobs:
           ROS_WS_DIR="$(readlink -f ${{ steps.ros-build.outputs.ros-workspace-directory-name }})"
           cd "$ROS_WS_DIR"
           cd src
-          cd $(find -name px4_sdk|head -1) # the path looks like this: 'src/zlrido15uw/px4_sdk'
+          cd $(find -name px4_ros2|head -1) # the path looks like this: 'src/zlrido15uw/px4_ros2'
           ./scripts/run-clang-tidy-on-project.sh "$ROS_WS_DIR"/build

.gitignore

@@ -379,3 +379,4 @@ pyrightconfig.json
 .ionide
 
 # End of https://www.toptal.com/developers/gitignore/api/c++,meson,sonar,python,sonarqube,visualstudiocode,clion
+.idea

README.md

@@ -6,12 +6,12 @@ A mode can send different types of setpoints, ranging from high-level navigation
 
 ## Compatibility with PX4
 The library interacts with PX4 by using its uORB messages, and thus requires a matching set of message definitions on the ROS 2 side.
-Compatibility is only guaranteed if using latest `main` on the PX4 and SDK/px4_msgs side. This might change in the future.
+Compatibility is only guaranteed if using latest `main` on the PX4 and px4_ros2/px4_msgs side. This might change in the future.
 
-The SDK checks for message compatibility on startup when registering a mode.
-`ALL_PX4_SDK_MESSAGES` defines the set of checked messages. If you use other messages, you can check them using:
+The library checks for message compatibility on startup when registering a mode.
+`ALL_PX4_ROS2_MESSAGES` defines the set of checked messages. If you use other messages, you can check them using:
 ```c++
-if (!px4_sdk::messageCompatibilityCheck(node, {{"/fmu/in/vehicle_rates_setpoint"}})) {
+if (!px4_ros2::messageCompatibilityCheck(node, {{"/fmu/in/vehicle_rates_setpoint"}})) {
   throw std::runtime_error("Messages incompatible");
 }
 ```
@@ -37,12 +37,12 @@ Make sure you have the ROS workspace sourced.
 #### Unit tests
 You can either run the unit tests through colcon:
 ```shell
-colcon test --packages-select px4_sdk_cpp --ctest-args -R unit_tests
+colcon test --packages-select px4_ros2_cpp --ctest-args -R unit_tests
 colcon test-result --verbose
 ```
 Or directly from the build directory, which allows to filter by individual tests:
 ```shell
-./build/px4_sdk_cpp/px4_sdk_cpp_unit_tests --gtest_filter='xy*'
+./build/px4_ros2_cpp/px4_ros2_cpp_unit_tests --gtest_filter='xy*'
 ```
 
 #### Linters (code formatting etc)

examples/cpp/modes/manual/CMakeLists.txt

@@ -15,12 +15,12 @@ find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(px4_sdk_cpp REQUIRED)
+find_package(px4_ros2_cpp REQUIRED)
 
 include_directories(include ${Eigen3_INCLUDE_DIRS})
 add_executable(example_mode_manual
         src/main.cpp)
-ament_target_dependencies(example_mode_manual Eigen3 px4_sdk_cpp rclcpp)
+ament_target_dependencies(example_mode_manual Eigen3 px4_ros2_cpp rclcpp)
 
 install(TARGETS
         example_mode_manual

examples/cpp/modes/manual/include/mode.hpp

@@ -4,10 +4,10 @@
  ****************************************************************************/
 #pragma once
 
-#include <px4_sdk/components/mode.hpp>
-#include <px4_sdk/control/setpoint_types/rates.hpp>
-#include <px4_sdk/control/setpoint_types/attitude.hpp>
-#include <px4_sdk/control/offboard_actuators.hpp>
+#include <px4_ros2/components/mode.hpp>
+#include <px4_ros2/control/setpoint_types/rates.hpp>
+#include <px4_ros2/control/setpoint_types/attitude.hpp>
+#include <px4_ros2/control/offboard_actuators.hpp>
 
 #include <Eigen/Eigen>
 
@@ -38,16 +38,16 @@ static inline Eigen::Quaternionf quaternionFromEuler(
   return quaternionFromEuler(Eigen::Vector3f(roll, pitch, yaw));
 }
 
-class FlightModeTest : public px4_sdk::ModeBase
+class FlightModeTest : public px4_ros2::ModeBase
 {
 public:
   explicit FlightModeTest(rclcpp::Node & node)
   : ModeBase(node, kName)
   {
-    _manual_control_input = std::make_shared<px4_sdk::ManualControlInput>(*this);
-    _rates_setpoint = std::make_shared<px4_sdk::RatesSetpointType>(*this);
-    _attitude_setpoint = std::make_shared<px4_sdk::AttitudeSetpointType>(*this);
-    _offboard_actuator_controls = std::make_shared<px4_sdk::OffboardActuatorControls>(*this);
+    _manual_control_input = std::make_shared<px4_ros2::ManualControlInput>(*this);
+    _rates_setpoint = std::make_shared<px4_ros2::RatesSetpointType>(*this);
+    _attitude_setpoint = std::make_shared<px4_ros2::AttitudeSetpointType>(*this);
+    _offboard_actuator_controls = std::make_shared<px4_ros2::OffboardActuatorControls>(*this);
   }
 
   void onActivate() override {}
@@ -87,10 +87,10 @@ class FlightModeTest : public px4_sdk::ModeBase
   }
 
 private:
-  std::shared_ptr<px4_sdk::ManualControlInput> _manual_control_input;
-  std::shared_ptr<px4_sdk::RatesSetpointType> _rates_setpoint;
-  std::shared_ptr<px4_sdk::AttitudeSetpointType> _attitude_setpoint;
-  std::shared_ptr<px4_sdk::OffboardActuatorControls> _offboard_actuator_controls;
+  std::shared_ptr<px4_ros2::ManualControlInput> _manual_control_input;
+  std::shared_ptr<px4_ros2::RatesSetpointType> _rates_setpoint;
+  std::shared_ptr<px4_ros2::AttitudeSetpointType> _attitude_setpoint;
+  std::shared_ptr<px4_ros2::OffboardActuatorControls> _offboard_actuator_controls;
   float _yaw{0.F};
 };
 

examples/cpp/modes/manual/package.xml

@@ -15,7 +15,7 @@
   <build_depend>rclcpp</build_depend>
   <build_export_depend>eigen</build_export_depend>
 
-  <depend>px4_sdk_cpp</depend>
+  <depend>px4_ros2_cpp</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

examples/cpp/modes/mode_with_executor/CMakeLists.txt

@@ -15,12 +15,12 @@ find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(px4_sdk_cpp REQUIRED)
+find_package(px4_ros2_cpp REQUIRED)
 
 include_directories(include ${Eigen3_INCLUDE_DIRS})
 add_executable(example_mode_with_executor
         src/main.cpp)
-ament_target_dependencies(example_mode_with_executor Eigen3 px4_sdk_cpp rclcpp)
+ament_target_dependencies(example_mode_with_executor Eigen3 px4_ros2_cpp rclcpp)
 
 install(TARGETS
         example_mode_with_executor

examples/cpp/modes/mode_with_executor/include/mode.hpp

@@ -4,10 +4,10 @@
  ****************************************************************************/
 #pragma once
 
-#include <px4_sdk/components/mode.hpp>
-#include <px4_sdk/components/mode_executor.hpp>
-#include <px4_sdk/components/wait_for_fmu.hpp>
-#include <px4_sdk/control/setpoint_types/trajectory.hpp>
+#include <px4_ros2/components/mode.hpp>
+#include <px4_ros2/components/mode_executor.hpp>
+#include <px4_ros2/components/wait_for_fmu.hpp>
+#include <px4_ros2/control/setpoint_types/trajectory.hpp>
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -18,13 +18,13 @@ using namespace std::chrono_literals; // NOLINT
 static const std::string kName = "Autonomous Executor";
 static const std::string kNodeName = "example_mode_with_executor";
 
-class FlightModeTest : public px4_sdk::ModeBase
+class FlightModeTest : public px4_ros2::ModeBase
 {
 public:
   explicit FlightModeTest(rclcpp::Node & node)
   : ModeBase(node, Settings{kName, false})
   {
-    _trajectory_setpoint = std::make_shared<px4_sdk::TrajectorySetpointType>(*this);
+    _trajectory_setpoint = std::make_shared<px4_ros2::TrajectorySetpointType>(*this);
   }
 
   ~FlightModeTest() override = default;
@@ -41,7 +41,7 @@ class FlightModeTest : public px4_sdk::ModeBase
     const rclcpp::Time now = node().get_clock()->now();
 
     if (now - _activation_time > 5s) {
-      completed(px4_sdk::Result::Success);
+      completed(px4_ros2::Result::Success);
       return;
     }
 
@@ -52,14 +52,14 @@ class FlightModeTest : public px4_sdk::ModeBase
 
 private:
   rclcpp::Time _activation_time{};
-  std::shared_ptr<px4_sdk::TrajectorySetpointType> _trajectory_setpoint;
+  std::shared_ptr<px4_ros2::TrajectorySetpointType> _trajectory_setpoint;
 };
 
-class ModeExecutorTest : public px4_sdk::ModeExecutorBase
+class ModeExecutorTest : public px4_ros2::ModeExecutorBase
 {
 public:
-  ModeExecutorTest(rclcpp::Node & node, px4_sdk::ModeBase & owned_mode)
-  : ModeExecutorBase(node, px4_sdk::ModeExecutorBase::Settings{}, owned_mode),
+  ModeExecutorTest(rclcpp::Node & node, px4_ros2::ModeBase & owned_mode)
+  : ModeExecutorBase(node, px4_ros2::ModeExecutorBase::Settings{}, owned_mode),
     _node(node)
   {
   }
@@ -75,16 +75,16 @@ class ModeExecutorTest : public px4_sdk::ModeExecutorBase
 
   void onActivate() override
   {
-    runState(State::TakingOff, px4_sdk::Result::Success);
+    runState(State::TakingOff, px4_ros2::Result::Success);
   }
 
   void onDeactivate(DeactivateReason reason) override
   {
   }
 
-  void runState(State state, px4_sdk::Result previous_result)
+  void runState(State state, px4_ros2::Result previous_result)
   {
-    if (previous_result != px4_sdk::Result::Success) {
+    if (previous_result != px4_ros2::Result::Success) {
       RCLCPP_ERROR(
         _node.get_logger(), "State %i: previous state failed: %s", (int)state,
         resultToString(previous_result));
@@ -98,23 +98,23 @@ class ModeExecutorTest : public px4_sdk::ModeExecutorBase
         break;
 
       case State::TakingOff:
-        takeoff([this](px4_sdk::Result result) {runState(State::MyMode, result);});
+        takeoff([this](px4_ros2::Result result) {runState(State::MyMode, result);});
         break;
 
       case State::MyMode:
         scheduleMode(
-          ownedMode().id(), [this](px4_sdk::Result result) {
+          ownedMode().id(), [this](px4_ros2::Result result) {
             runState(State::RTL, result);
           });
         break;
 
       case State::RTL:
-        rtl([this](px4_sdk::Result result) {runState(State::WaitUntilDisarmed, result);});
+        rtl([this](px4_ros2::Result result) {runState(State::WaitUntilDisarmed, result);});
         break;
 
       case State::WaitUntilDisarmed:
         waitUntilDisarmed(
-          [this](px4_sdk::Result result) {
+          [this](px4_ros2::Result result) {
             RCLCPP_INFO(_node.get_logger(), "All states complete (%s)", resultToString(result));
           });
         break;
@@ -140,7 +140,7 @@ class TestNode : public rclcpp::Node
       rcutils_reset_error();
     }
 
-    if (!px4_sdk::waitForFMU(*this)) {
+    if (!px4_ros2::waitForFMU(*this)) {
       throw std::runtime_error("No message from FMU");
     }
 

examples/cpp/modes/mode_with_executor/package.xml

@@ -15,7 +15,7 @@
   <build_depend>rclcpp</build_depend>
   <build_export_depend>eigen</build_export_depend>
 
-  <depend>px4_sdk_cpp</depend>
+  <depend>px4_ros2_cpp</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

examples/cpp/modes/rtl_replacement/CMakeLists.txt

@@ -15,12 +15,12 @@ find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(px4_sdk_cpp REQUIRED)
+find_package(px4_ros2_cpp REQUIRED)
 
 include_directories(include ${Eigen3_INCLUDE_DIRS})
 add_executable(example_mode_rtl
         src/main.cpp)
-ament_target_dependencies(example_mode_rtl Eigen3 px4_sdk_cpp rclcpp)
+ament_target_dependencies(example_mode_rtl Eigen3 px4_ros2_cpp rclcpp)
 
 install(TARGETS
         example_mode_rtl

examples/cpp/modes/rtl_replacement/include/mode.hpp

@@ -4,10 +4,10 @@
  ****************************************************************************/
 #pragma once
 
-#include <px4_sdk/components/mode.hpp>
-#include <px4_sdk/components/health_and_arming_checks.hpp>
-#include <px4_sdk/components/mode_executor.hpp>
-#include <px4_sdk/control/setpoint_types/trajectory.hpp>
+#include <px4_ros2/components/mode.hpp>
+#include <px4_ros2/components/health_and_arming_checks.hpp>
+#include <px4_ros2/components/mode_executor.hpp>
+#include <px4_ros2/control/setpoint_types/trajectory.hpp>
 #include <px4_msgs/msg/vehicle_land_detected.hpp>
 
 #include <rclcpp/rclcpp.hpp>
@@ -19,7 +19,7 @@ using namespace std::chrono_literals; // NOLINT
 static const std::string kName = "Custom RTL";
 static const std::string kNodeName = "example_mode_rtl";
 
-class FlightModeTest : public px4_sdk::ModeBase
+class FlightModeTest : public px4_ros2::ModeBase
 {
 public:
   explicit FlightModeTest(rclcpp::Node & node)
@@ -30,7 +30,7 @@ class FlightModeTest : public px4_sdk::ModeBase
       [this](px4_msgs::msg::VehicleLandDetected::UniquePtr msg) {
         _landed = msg->landed;
       });
-    _trajectory_setpoint = std::make_shared<px4_sdk::TrajectorySetpointType>(*this);
+    _trajectory_setpoint = std::make_shared<px4_ros2::TrajectorySetpointType>(*this);
 
     modeRequirements().home_position = true;
   }
@@ -45,7 +45,7 @@ class FlightModeTest : public px4_sdk::ModeBase
   void updateSetpoint(float dt_s) override
   {
     if (_landed) {
-      completed(px4_sdk::Result::Success);
+      completed(px4_ros2::Result::Success);
       return;
     }
 
@@ -57,7 +57,7 @@ class FlightModeTest : public px4_sdk::ModeBase
   rclcpp::Time _activation_time{};
   bool _landed{true};
   rclcpp::Subscription<px4_msgs::msg::VehicleLandDetected>::SharedPtr _vehicle_land_detected_sub;
-  std::shared_ptr<px4_sdk::TrajectorySetpointType> _trajectory_setpoint;
+  std::shared_ptr<px4_ros2::TrajectorySetpointType> _trajectory_setpoint;
 };
 
 class TestNode : public rclcpp::Node

examples/cpp/modes/rtl_replacement/package.xml

@@ -15,7 +15,7 @@
   <build_depend>rclcpp</build_depend>
   <build_export_depend>eigen</build_export_depend>
 
-  <depend>px4_sdk_cpp</depend>
+  <depend>px4_ros2_cpp</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>