Add support for SDK 3.12.6 (AutonomyLab#120)

* Add support for SDK 3.12.6
* Update tested bebop 2 software version and bebop 2 camera calibration
* Fix autogenerated PilotingSettingsMaxDistanceValue
* Update changelog and installation instructions for 64bit ubuntu xenial
* Update installation.rst
* Add doc for SDK 3.12.6p1
* Relax the SDK version constraint

README.md

@@ -19,4 +19,4 @@
 
 [![Build Status (ROS I,J,K) - TravisCI](https://travis-ci.org/AutonomyLab/bebop_autonomy.svg?branch=indigo-devel)](https://travis-ci.org/AutonomyLab/bebop_autonomy) [![Build Status (ROS I,J) - Semaphore](https://semaphoreci.com/api/v1/projects/11786233-d505-4d79-b27c-80c2742243a4/537552/badge.svg)](https://semaphoreci.com/mani_monaj/bebop_autonomy)
 
-Built against [parrot_arsdk](https://github.com/AutonomyLab/parrot_arsdk) 3.11.0
+Built against [parrot_arsdk](https://github.com/AutonomyLab/parrot_arsdk) 3.12.6p1

bebop_autonomy/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package bebop_autonomy
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.0 (2017-07-29)
+------------------
+
 0.6.0 (2016-11-02)
 ------------------
 

bebop_autonomy/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>bebop_autonomy</name>
-  <version>0.6.0</version>
+  <version>0.7.0</version>
   <description>bebop_autonomy is a ROS driver for Parrot Bebop drone, based on Parrot’s official ARDroneSDK3</description>
 
   <maintainer email="[email protected]">Mani Monajjemi</maintainer>

bebop_description/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package bebop_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.0 (2017-07-29)
+------------------
+
 0.6.0 (2016-11-02)
 ------------------
 

bebop_description/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>bebop_description</name>
-  <version>0.6.0</version>
+  <version>0.7.0</version>
   <description>URDF robot description for Parrot Bebop Drones</description>
 
   <maintainer email="[email protected]">Mani Monajjemi</maintainer>

bebop_driver/CHANGELOG.rst

@@ -2,6 +2,13 @@
 Changelog for package bebop_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.0 (2017-07-29)
+------------------
+* SDK 3.12.6 support (except 64bit Ubuntu Xenial, working on fix)
+  - ROS API change: states/common/MavlinkState/MissonItemExecuted topic renamed
+  to states/common/MavlinkState/MissionItemExecuted
+* Contributors: Thomas Bamford, Mani Monajjemi
+
 0.6.0 (2016-11-02)
 ------------------
 * Use Parrot ARSDK as a thirdparty dependency

bebop_driver/cfg/autogenerated/BebopArdrone3.cfg

@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 
 # BebopArdrone3.cfg
-# auto-generated from https://raw.githubusercontent.com/Parrot-Developers/arsdk-xml/e73425074471c58561d04c85da4a6400b638779d/xml/ardrone3.xml
+# auto-generated from https://raw.githubusercontent.com/Parrot-Developers/arsdk-xml/ab28dab91845cd36c4d7002b55f70805deaff3c8/xml/ardrone3.xml
 # Do not modify this file by hand. Check scripts/meta folder for generator files.
 
 PACKAGE = "bebop_driver"
@@ -23,7 +23,7 @@ PilotingSettingsAbsolutControlOn_enum = gen.enum([
 ], "1 to enable, 0 to disable")
 pilotingsettings_group_gen.add("PilotingSettingsAbsolutControlOn", int_t, 0, "1 to enable, 0 to disable", 0, 0, 1, edit_method=PilotingSettingsAbsolutControlOn_enum)
 # Set max distance.\n You can get the bounds from the event [MaxDistance](#1-6-3).\n\n If [Geofence](#1-6-4) is activated, the drone wont fly over the given max distance.
-pilotingsettings_group_gen.add("PilotingSettingsMaxDistanceValue", double_t, 0, "Current max distance in meter", 0 , 0, 160)
+pilotingsettings_group_gen.add("PilotingSettingsMaxDistanceValue", double_t, 0, "Current max distance in meter", 0 , 0.0, 2000.0)
 # Enable geofence.\n If geofence is enabled, the drone wont fly over the given max distance.\n You can get the max distance from the event [MaxDistance](#1-6-3). \n For copters: the distance is computed from the controller position, if this position is not known, it will use the take off.\n For fixed wings: the distance is computed from the take off position.
 PilotingSettingsNoFlyOverMaxDistanceShouldnotflyover_enum = gen.enum([
     gen.const("PilotingSettingsNoFlyOverMaxDistanceShouldnotflyover_OFF", int_t, 0, "Disabled"),
@@ -135,4 +135,4 @@ gpssettings_group_gen.add("GPSSettingsHomeTypeType", int_t, 0, "The type of the
 gpssettings_group_gen.add("GPSSettingsReturnHomeDelayDelay", int_t, 0, "Delay in second", 0 , 0, 120)
 
 
-exit(gen.generate(PACKAGE, "bebop_driver_nodelet", "BebopArdrone3"))
+exit(gen.generate(PACKAGE, "bebop_driver_nodelet", "BebopArdrone3"))

bebop_driver/data/bebop2_camera_calib.yaml

@@ -1,20 +1,20 @@
-image_width: 640
-image_height: 368
+image_width: 856
+image_height: 480
 camera_name: bebop_front
 camera_matrix:
   rows: 3
   cols: 3
-  data: [395.006308, 0.000000, 314.697857, 0.000000, 404.392711, 174.704342, 0.000000, 0.000000, 1.000000]
+  data: [537.292878, 0.000000, 427.331854, 0.000000, 527.000348, 240.226888, 0.000000, 0.000000, 1.000000]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [0.009430, -0.001107, -0.011436, -0.002274, 0.000000]
+  data: [0.004974, -0.000130, -0.001212, 0.002192, 0.000000]
 rectification_matrix:
   rows: 3
   cols: 3
   data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
 projection_matrix:
   rows: 3
   cols: 4
-  data: [400.769714, 0.000000, 312.419488, 0.000000, 0.000000, 407.883575, 169.238191, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
+  data: [539.403503, 0.000000, 429.275072, 0.000000, 0.000000, 529.838562, 238.941372, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

bebop_driver/include/bebop_driver/autogenerated/ardrone3_setting_callback_includes.h

@@ -23,7 +23,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCL
 ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
  * Ardrone3_setting_callback_includes.h
- * auto-generated from https://raw.githubusercontent.com/Parrot-Developers/arsdk-xml/e73425074471c58561d04c85da4a6400b638779d/xml/ardrone3.xml
+ * auto-generated from https://raw.githubusercontent.com/Parrot-Developers/arsdk-xml/ab28dab91845cd36c4d7002b55f70805deaff3c8/xml/ardrone3.xml
  * Do not modify this file by hand. Check scripts/meta folder for generator files.
  */
 

bebop_driver/include/bebop_driver/autogenerated/ardrone3_setting_callbacks.h

@@ -23,7 +23,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCL
 ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
  * Ardrone3_setting_callbacks.h
- * auto-generated from https://raw.githubusercontent.com/Parrot-Developers/arsdk-xml/e73425074471c58561d04c85da4a6400b638779d/xml/ardrone3.xml
+ * auto-generated from https://raw.githubusercontent.com/Parrot-Developers/arsdk-xml/ab28dab91845cd36c4d7002b55f70805deaff3c8/xml/ardrone3.xml
  * Do not modify this file by hand. Check scripts/meta folder for generator files.
  */
 #ifndef BEBOP_AUTONOMY_AUTOGENERATED_Ardrone3_SETTING_CALLBACKS_H

bebop_driver/include/bebop_driver/autogenerated/ardrone3_state_callback_includes.h

@@ -23,7 +23,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCL
 ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
  * ardrone3_state_callback_includes.h
- * auto-generated from https://raw.githubusercontent.com/Parrot-Developers/arsdk-xml/e73425074471c58561d04c85da4a6400b638779d/xml/ardrone3.xml
+ * auto-generated from https://raw.githubusercontent.com/Parrot-Developers/arsdk-xml/ab28dab91845cd36c4d7002b55f70805deaff3c8/xml/ardrone3.xml
  * Do not modify this file by hand. Check scripts/meta folder for generator files.
  */
 
@@ -47,6 +47,7 @@ namespace cb
   class Ardrone3PilotingStateGpsLocationChanged;
   class Ardrone3PilotingStateLandingStateChanged;
   class Ardrone3PilotingStateAirSpeedChanged;
+  class Ardrone3PilotingStatemoveToChanged;
   class Ardrone3NetworkStateWifiScanListChanged;
   class Ardrone3NetworkStateAllWifiScanChanged;
   class Ardrone3NetworkStateWifiAuthChannelListChanged;
@@ -64,6 +65,7 @@ namespace cb
   class Ardrone3GPSStateHomeTypeAvailabilityChanged;
   class Ardrone3GPSStateHomeTypeChosenChanged;
   class Ardrone3PROStateFeatures;
+  class Ardrone3AccessoryStateConnectedAccessories;
 }  // namespace cb
 #endif  // FORWARD_DECLARATIONS
 
@@ -103,6 +105,8 @@ boost::shared_ptr<cb::Ardrone3PilotingStateLandingStateChanged>
   ardrone3_pilotingstate_landingstatechanged_ptr;
 boost::shared_ptr<cb::Ardrone3PilotingStateAirSpeedChanged>
   ardrone3_pilotingstate_airspeedchanged_ptr;
+boost::shared_ptr<cb::Ardrone3PilotingStatemoveToChanged>
+  ardrone3_pilotingstate_movetochanged_ptr;
 boost::shared_ptr<cb::Ardrone3NetworkStateWifiScanListChanged>
   ardrone3_networkstate_wifiscanlistchanged_ptr;
 boost::shared_ptr<cb::Ardrone3NetworkStateAllWifiScanChanged>
@@ -137,6 +141,8 @@ boost::shared_ptr<cb::Ardrone3GPSStateHomeTypeChosenChanged>
   ardrone3_gpsstate_hometypechosenchanged_ptr;
 boost::shared_ptr<cb::Ardrone3PROStateFeatures>
   ardrone3_prostate_features_ptr;
+boost::shared_ptr<cb::Ardrone3AccessoryStateConnectedAccessories>
+  ardrone3_accessorystate_connectedaccessories_ptr;
 #endif  // DEFINE_SHARED_PTRS
 
 #ifdef UPDTAE_CALLBACK_MAP
@@ -192,6 +198,9 @@ ardrone3_pilotingstate_landingstatechanged_ptr.reset(
 ardrone3_pilotingstate_airspeedchanged_ptr.reset(
   new cb::Ardrone3PilotingStateAirSpeedChanged(
     nh, priv_nh, "states/ardrone3/PilotingState/AirSpeedChanged"));
+ardrone3_pilotingstate_movetochanged_ptr.reset(
+  new cb::Ardrone3PilotingStatemoveToChanged(
+    nh, priv_nh, "states/ardrone3/PilotingState/moveToChanged"));
 ardrone3_networkstate_wifiscanlistchanged_ptr.reset(
   new cb::Ardrone3NetworkStateWifiScanListChanged(
     nh, priv_nh, "states/ardrone3/NetworkState/WifiScanListChanged"));
@@ -243,6 +252,9 @@ ardrone3_gpsstate_hometypechosenchanged_ptr.reset(
 ardrone3_prostate_features_ptr.reset(
   new cb::Ardrone3PROStateFeatures(
     nh, priv_nh, "states/ardrone3/PROState/Features"));
+ardrone3_accessorystate_connectedaccessories_ptr.reset(
+  new cb::Ardrone3AccessoryStateConnectedAccessories(
+    nh, priv_nh, "states/ardrone3/AccessoryState/ConnectedAccessories"));
 
 // Add all wrappers to the callback map
 callback_map_.insert(std::pair<eARCONTROLLER_DICTIONARY_KEY, boost::shared_ptr<cb::AbstractCommand> >(
@@ -313,6 +325,10 @@ callback_map_.insert(std::pair<eARCONTROLLER_DICTIONARY_KEY, boost::shared_ptr<c
                       ardrone3_pilotingstate_airspeedchanged_ptr->GetCommandKey(),
                       ardrone3_pilotingstate_airspeedchanged_ptr));
 // Add all wrappers to the callback map
+callback_map_.insert(std::pair<eARCONTROLLER_DICTIONARY_KEY, boost::shared_ptr<cb::AbstractCommand> >(
+                      ardrone3_pilotingstate_movetochanged_ptr->GetCommandKey(),
+                      ardrone3_pilotingstate_movetochanged_ptr));
+// Add all wrappers to the callback map
 callback_map_.insert(std::pair<eARCONTROLLER_DICTIONARY_KEY, boost::shared_ptr<cb::AbstractCommand> >(
                       ardrone3_networkstate_wifiscanlistchanged_ptr->GetCommandKey(),
                       ardrone3_networkstate_wifiscanlistchanged_ptr));
@@ -380,4 +396,8 @@ callback_map_.insert(std::pair<eARCONTROLLER_DICTIONARY_KEY, boost::shared_ptr<c
 callback_map_.insert(std::pair<eARCONTROLLER_DICTIONARY_KEY, boost::shared_ptr<cb::AbstractCommand> >(
                       ardrone3_prostate_features_ptr->GetCommandKey(),
                       ardrone3_prostate_features_ptr));
+// Add all wrappers to the callback map
+callback_map_.insert(std::pair<eARCONTROLLER_DICTIONARY_KEY, boost::shared_ptr<cb::AbstractCommand> >(
+                      ardrone3_accessorystate_connectedaccessories_ptr->GetCommandKey(),
+                      ardrone3_accessorystate_connectedaccessories_ptr));
 #endif  // UPDTAE_CALLBACK_MAP