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update px4_msgs to 1.16 #67

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6800460
update px4_msgs to 1.16
0frankie Oct 3, 2025
f2aaf64
working UTM
ethayu Nov 9, 2025
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2 changes: 1 addition & 1 deletion .gitmodules
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
[submodule "controls/sae_2025_ws/src/px4_msgs"]
path = controls/sae_2025_ws/src/px4_msgs
url = https://github.com/PX4/px4_msgs.git
branch = release/1.15
branch = release/1.16
[submodule "controls/sae_2025_ws/src/ros_gz"]
path = controls/sae_2025_ws/src/ros_gz
url = https://github.com/gazebosim/ros_gz.git
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2 changes: 1 addition & 1 deletion controls/sae_2025_ws/src/px4_msgs
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Submodule px4_msgs updated 102 files
2 changes: 1 addition & 1 deletion controls/sae_2025_ws/src/ros_gz
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Submodule ros_gz updated 72 files
+13 −0 .github/workflows/ros2-ci.yml
+0 −1 .github/workflows/triage.yml
+3 −0 .gitignore
+21 −0 .pre-commit-config.yaml
+9 −5 README.md
+12 −0 ros_gz/CHANGELOG.rst
+1 −1 ros_gz/package.xml
+20 −1 ros_gz_bridge/CHANGELOG.rst
+1 −0 ros_gz_bridge/README.md
+1 −1 ros_gz_bridge/bin/ros_gz_bridge_markdown_table
+21 −0 ros_gz_bridge/include/ros_gz_bridge/convert/ros_gz_interfaces.hpp
+1 −0 ros_gz_bridge/include/ros_gz_bridge/convert/sensor_msgs.hpp
+1 −1 ros_gz_bridge/package.xml
+1 −1 ros_gz_bridge/resource/get_mappings.cpp.em
+2 −0 ros_gz_bridge/ros_gz_bridge/mappings.py
+3 −0 ros_gz_bridge/src/bridge_handle.cpp
+4 −1 ros_gz_bridge/src/bridge_handle.hpp
+2 −1 ros_gz_bridge/src/bridge_handle_gz_to_ros.cpp
+65 −1 ros_gz_bridge/src/convert/ros_gz_interfaces.cpp
+1 −1 ros_gz_bridge/src/convert/ros_gz_interfaces_TEST.cpp
+58 −0 ros_gz_bridge/src/convert/sensor_msgs.cpp
+2 −0 ros_gz_bridge/src/convert/tf2_msgs.cpp
+27 −4 ros_gz_bridge/src/factory.hpp
+2 −1 ros_gz_bridge/src/factory_interface.hpp
+3 −3 ros_gz_bridge/src/parameter_bridge.cpp
+1 −0 ros_gz_bridge/src/ros_gz_bridge.cpp
+130 −0 ros_gz_bridge/src/service_factories/ros_gz_interfaces.cpp
+11 −0 ros_gz_bridge/test/subscribers/ros_subscriber/ros_gz_interfaces_subscriber.cpp
+44 −1 ros_gz_bridge/test/utils/gz_test_msg.cpp
+9 −0 ros_gz_bridge/test/utils/gz_test_msg.hpp
+39 −0 ros_gz_bridge/test/utils/ros_test_msg.cpp
+18 −0 ros_gz_bridge/test/utils/ros_test_msg.hpp
+15 −0 ros_gz_image/CHANGELOG.rst
+0 −1 ros_gz_image/README.md
+1 −1 ros_gz_image/package.xml
+1 −1 ros_gz_image/src/image_bridge.cpp
+16 −1 ros_gz_interfaces/CHANGELOG.rst
+1 −1 ros_gz_interfaces/README.md
+1 −1 ros_gz_interfaces/msg/Entity.msg
+1 −1 ros_gz_interfaces/msg/EntityFactory.msg
+1 −1 ros_gz_interfaces/msg/EntityWrench.msg
+0 −2 ros_gz_interfaces/msg/SensorNoise.msg
+2 −2 ros_gz_interfaces/msg/WorldControl.msg
+1 −1 ros_gz_interfaces/package.xml
+1 −1 ros_gz_interfaces/srv/DeleteEntity.srv
+1 −1 ros_gz_point_cloud/CMakeLists.txt
+18 −0 ros_gz_sim/CHANGELOG.rst
+26 −10 ros_gz_sim/launch/gz_sim.launch.py.in
+1 −1 ros_gz_sim/package.xml
+14 −0 ros_gz_sim_demos/CHANGELOG.rst
+1 −1 ros_gz_sim_demos/models/rrbot.xacro
+1 −1 ros_gz_sim_demos/package.xml
+12 −0 ros_ign/CHANGELOG.rst
+1 −1 ros_ign/package.xml
+15 −1 ros_ign_bridge/CHANGELOG.rst
+1 −1 ros_ign_bridge/package.xml
+12 −0 ros_ign_gazebo/CHANGELOG.rst
+1 −1 ros_ign_gazebo/package.xml
+12 −0 ros_ign_gazebo_demos/CHANGELOG.rst
+1 −1 ros_ign_gazebo_demos/package.xml
+12 −0 ros_ign_image/CHANGELOG.rst
+1 −1 ros_ign_image/package.xml
+16 −1 ros_ign_interfaces/CHANGELOG.rst
+1 −1 ros_ign_interfaces/msg/Entity.msg
+1 −1 ros_ign_interfaces/msg/EntityFactory.msg
+2 −2 ros_ign_interfaces/msg/WorldControl.msg
+1 −1 ros_ign_interfaces/package.xml
+1 −1 ros_ign_interfaces/srv/DeleteEntity.srv
+15 −0 test_ros_gz_bridge/CHANGELOG.rst
+1 −1 test_ros_gz_bridge/package.xml
+2 −0 tools/.codespell_ignore_words
+2 −0 tools/pyproject.toml
2 changes: 1 addition & 1 deletion controls/sae_2025_ws/src/uav/launch/launch_params.yaml
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@@ -1,5 +1,5 @@
# launch_params.yaml
mission_name: basic
mission_name: mission
uav_debug: false
vision_debug: false
sim: true
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10 changes: 5 additions & 5 deletions controls/sae_2025_ws/src/uav/launch/main.launch.py
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Expand Up @@ -9,8 +9,8 @@
from launch_ros.actions import Node
from uav.utils import vehicle_map

GZ_CAMERA_TOPIC = '/world/custom/model/x500_mono_cam_down_0/link/camera_link/sensor/imager/image'
GZ_CAMERA_INFO_TOPIC = '/world/custom/model/x500_mono_cam_down_0/link/camera_link/sensor/imager/camera_info'
GZ_CAMERA_TOPIC = '/world/custom/model/x500_mono_cam_down_0/link/camera_link/sensor/camera/image'
GZ_CAMERA_INFO_TOPIC = '/world/custom/model/x500_mono_cam_down_0/link/camera_link/sensor/camera/camera_info'
HARDCODE_PATH = False

def find_folder(folder_name, search_path):
Expand Down Expand Up @@ -158,7 +158,7 @@ def launch_setup(context, *args, **kwargs):
else:
raise ValueError(f"Invalid vehicle type: {vehicle_type}")
px4_sitl = ExecuteProcess(
cmd=['bash', '-c', f'PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART={autostart} PX4_SIM_MODEL={model} PX4_GZ_WORLD=custom ./build/px4_sitl_default/bin/px4'],
cmd=['bash', '-c', f'PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART={autostart} PX4_SIM_MODEL={model} ./build/px4_sitl_default/bin/px4'],
cwd=px4_path,
output='screen',
name='px4_sitl'
Expand All @@ -168,7 +168,7 @@ def launch_setup(context, *args, **kwargs):
gz_ros_bridge_camera = ExecuteProcess(
cmd=['ros2', 'run', 'ros_gz_bridge', 'parameter_bridge',
f'{GZ_CAMERA_TOPIC}@sensor_msgs/msg/Image[gz.msgs.Image',
'--ros-args', '--remap', '/world/custom/model/x500_mono_cam_down_0/link/camera_link/sensor/imager/image:=/camera'],
'--ros-args', '--remap', f'{GZ_CAMERA_TOPIC}:=/camera'],
output='screen',
cwd=sae_ws_path,
name='gz_ros_bridge_camera'
Expand All @@ -177,7 +177,7 @@ def launch_setup(context, *args, **kwargs):
gz_ros_bridge_camera_info = ExecuteProcess(
cmd=['ros2', 'run', 'ros_gz_bridge', 'parameter_bridge',
f'{GZ_CAMERA_INFO_TOPIC}@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo',
'--ros-args', '--remap', '/world/custom/model/x500_mono_cam_down_0/link/camera_link/sensor/imager/camera_info:=/camera_info'],
'--ros-args', '--remap', f'{GZ_CAMERA_INFO_TOPIC}:=/camera_info'],
output='screen',
cwd=sae_ws_path,
name='gz_ros_bridge_camera_info'
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2 changes: 1 addition & 1 deletion controls/sae_2025_ws/src/uav/uav/UAV.py
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Expand Up @@ -471,7 +471,7 @@ def _initialize_publishers_and_subscribers(self):
# Subscribers
self.status_sub = self.node.create_subscription(
VehicleStatus,
'/fmu/out/vehicle_status',
'/fmu/out/vehicle_status_v1',
self._vehicle_status_callback,
qos_profile
)
Expand Down