Merge branch 'ros2' into ros2_safety_area_manager

Author: MarlonRiv

README.md

@@ -1,12 +1,8 @@
 # The MRS UAV System Core
 
-> :warning: **Attention please: This README needs work.**
->
-> The MRS UAV System 1.5 is being released and this page needs updating. Please, keep in mind that the information on this page might not be valid.
-
 ## Installation
 
-The Core is installed as a part of the [MRS UAV System](https://github.com/ctu-mrs/mrs_uav_system#installation).
+The Core is installed as a part of the [MRS UAV System](https://github.com/ctu-mrs/mrs_uav_system/tree/ros2#installation).
 
 ## Contents
 
@@ -25,25 +21,23 @@ Moreover, the core provides
 
 * MRS libraries,
 * MRS ROS messages,
-* MRS Rviz plugins,
 * MRS multirotor simulator.
 
 ## Submodules
 
-| Repository                                                                                |
-|-------------------------------------------------------------------------------------------|
-| [mrs_lib](https://github.com/ctu-mrs/mrs_lib)                                             |
-| [mrs_msgs](https://github.com/ctu-mrs/mrs_msgs)                                           |
-| [mrs_multirotor_simulator](https://github.com/ctu-mrs/mrs_multirotor_simulator)           |
-| [mrs_rviz_plugins](https://github.com/ctu-mrs/mrs_rviz_plugins)                           |
-| [mrs_uav_controllers](https://github.com/ctu-mrs/mrs_uav_controllers)                     |
-| [mrs_uav_autostart](https://github.com/ctu-mrs/mrs_uav_autostart)                         |
-| [mrs_uav_hw_api](https://github.com/ctu-mrs/mrs_uav_hw_api)                               |
-| [mrs_uav_managers](https://github.com/ctu-mrs/mrs_uav_managers)                           |
-| [mrs_uav_state_estimators](https://github.com/ctu-mrs/mrs_uav_state_estimators)           |
-| [mrs_uav_status](https://github.com/ctu-mrs/mrs_uav_status)                               |
-| [mrs_uav_trackers](https://github.com/ctu-mrs/mrs_uav_trackers)                           |
-| [mrs_uav_trajectory_generation](https://github.com/ctu-mrs/mrs_uav_trajectory_generation) |
+| Repository                                                                                          |
+|-----------------------------------------------------------------------------------------------------|
+| [mrs_lib](https://github.com/ctu-mrs/mrs_lib/tree/ros2)                                             |
+| [mrs_msgs](https://github.com/ctu-mrs/mrs_msgs/tree/ros2)                                           |
+| [mrs_multirotor_simulator](https://github.com/ctu-mrs/mrs_multirotor_simulator/tree/ros2)           |
+| [mrs_uav_controllers](https://github.com/ctu-mrs/mrs_uav_controllers/tree/ros2)                     |
+| [mrs_uav_autostart](https://github.com/ctu-mrs/mrs_uav_autostart/tree/ros2)                         |
+| [mrs_uav_hw_api](https://github.com/ctu-mrs/mrs_uav_hw_api/tree/ros2)                               |
+| [mrs_uav_managers](https://github.com/ctu-mrs/mrs_uav_managers/tree/ros2)                           |
+| [mrs_uav_state_estimators](https://github.com/ctu-mrs/mrs_uav_state_estimators/tree/ros2)           |
+| [mrs_uav_status](https://github.com/ctu-mrs/mrs_uav_status/tree/ros2)                               |
+| [mrs_uav_trackers](https://github.com/ctu-mrs/mrs_uav_trackers/tree/ros2)                           |
+| [mrs_uav_trajectory_generation](https://github.com/ctu-mrs/mrs_uav_trajectory_generation/tree/ros2) |
 
 # Disclaimer
 

ros_packages/.gitman.yml

@@ -74,7 +74,7 @@ sources:
       - git submodule update --init --recursive
   - repo: https://github.com/ctu-mrs/mrs_uav_managers.git
     name: mrs_uav_managers
-    rev: ros2_safety_area_manager
+    rev: ros2
     type: git
     params:
     sparse_paths:

ros_packages/mrs_uav_core/launch/core.launch.py

@@ -222,7 +222,7 @@ def generate_launch_description():
     ld.add_action(
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource([
-                FindPackageShare('mrs_uav_managers'), '/launch/safety_area_manager.py'
+                FindPackageShare('mrs_uav_managers'), '/launch/safety_area_manager.launch.py'
             ]),
             launch_arguments={
                 'use_sim_time': use_sim_time,

ros_packages/mrs_uav_core/package.xml

@@ -20,6 +20,7 @@
   <depend>builtin_interfaces</depend>
 
   <depend>rmw_zenoh_cpp</depend>
+  <depend>rmw_cyclonedds_cpp</depend>
 
   <depend>mrs_msgs</depend>
   <depend>mrs_lib</depend>
@@ -33,7 +34,6 @@
   <depend>mrs_uav_trajectory_generation</depend>
   <depend>mrs_uav_status</depend>
   <depend>mrs_uav_testing</depend>
-  <!-- <depend>mrs_rviz_plugins</depend> -->
 
   <depend>tmux</depend>
   <depend>tmuxinator</depend>