added traj gen

Author: Tomas Baca

ros_packages/.gitman.yml

@@ -120,3 +120,16 @@ sources:
         target: mrs_uav_testing
     scripts:
       - git submodule update --init --recursive
+  - repo: https://github.com/ctu-mrs/mrs_uav_trajectory_generation.git
+    name: mrs_uav_trajectory_generation
+    rev: ros2
+    type: git
+    params:
+    sparse_paths:
+      -
+    links:
+      - source: ''
+        target: mrs_uav_trajectory_generation
+    scripts:
+      - git submodule update --init --recursive
+

ros_packages/mrs_uav_core/launch/core.py

@@ -252,4 +252,18 @@ def generate_launch_description():
         )
     )
 
+    ld.add_action(
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([
+                FindPackageShare('mrs_uav_trajectory_generation'), '/launch/trajectory_generation.py'
+            ]),
+            launch_arguments={
+                'custom_config': custom_config,
+                'platform_config': platform_config,
+                'standalone': standalone,
+                'container_name': container_name,
+            }.items()
+        )
+    )
+
     return ld

ros_packages/mrs_uav_core/package.xml

@@ -30,8 +30,8 @@
   <depend>mrs_uav_state_estimators</depend>
   <depend>mrs_multirotor_simulator</depend>
   <depend>mrs_uav_autostart</depend>
+  <depend>mrs_uav_trajectory_generation</depend>
   <!-- <depend>mrs_rviz_plugins</depend> -->
-  <!-- <depend>mrs_uav_trajectory_generation</depend> -->
   <!-- <depend>mrs_uav_status</depend> -->
   <!-- <depend>mrs_uav_testing</depend> -->
 

ros_packages/mrs_uav_trajectory_generation

@@ -0,0 +1 @@
+.gitman/mrs_uav_trajectory_generation/.