Imported upstream version '1.19.0' of 'upstream'

mavlink · Jun 6, 2024 · 124215a · 124215a
1 parent eae036f
commit 124215a
Show file tree

Hide file tree

Showing 11 changed files with 28 additions and 21 deletions.
diff --git a/libmavconn/CHANGELOG.rst b/libmavconn/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package libmavconn
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.19.0 (2024-06-06)
+-------------------
+
 1.18.0 (2024-03-03)
 -------------------
 

diff --git a/libmavconn/package.xml b/libmavconn/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>libmavconn</name>
-  <version>1.18.0</version>
+  <version>1.19.0</version>
   <description>
     MAVLink communication library.
     This library provide unified connection handling classes

diff --git a/mavros/CHANGELOG.rst b/mavros/CHANGELOG.rst
@@ -2,6 +2,16 @@
 Changelog for package mavros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.19.0 (2024-06-06)
+-------------------
+* gps_global_origin: remove LLA to ECEF conversion
+  gps_global_origin is being published as
+  geographic_msgs::GeoPointStamped
+  message, which wants LLA format
+  https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html
+  FIX https://github.com/mavlink/mavros/issues/1381
+* Contributors: Beniamino Pozzan
+
 1.18.0 (2024-03-03)
 -------------------
 * sys_status.cpp: improve timeout code

diff --git a/mavros/package.xml b/mavros/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mavros</name>
-  <version>1.18.0</version>
+  <version>1.19.0</version>
   <description>
     MAVROS -- MAVLink extendable communication node for ROS
     with proxy for Ground Control Station.

diff --git a/mavros/src/plugins/global_position.cpp b/mavros/src/plugins/global_position.cpp
@@ -233,22 +233,7 @@ class GlobalPositionPlugin : public plugin::PluginBase {
 		g_origin->position.longitude = glob_orig.longitude / 1E7;
 		g_origin->position.altitude = glob_orig.altitude / 1E3 + m_uas->geoid_to_ellipsoid_height(&g_origin->position);	// convert height amsl to height above the ellipsoid
 
-		try {
-			/**
-			 * @brief Conversion from geodetic coordinates (LLA) to ECEF (Earth-Centered, Earth-Fixed)
-			 * Note: "earth" frame, in ECEF, of the global origin
-			 */
-			GeographicLib::Geocentric earth(GeographicLib::Constants::WGS84_a(),
-				GeographicLib::Constants::WGS84_f());
-
-			earth.Forward(g_origin->position.latitude, g_origin->position.longitude, g_origin->position.altitude,
-				g_origin->position.latitude, g_origin->position.longitude, g_origin->position.altitude);
-
-			gp_global_origin_pub.publish(g_origin);
-		}
-		catch (const std::exception& e) {
-			ROS_INFO_STREAM("GP: Caught exception: " << e.what() << std::endl);
-		}
+		gp_global_origin_pub.publish(g_origin);
 	}
 
 	/** @todo Handler for GLOBAL_POSITION_INT_COV */

diff --git a/mavros_extras/CHANGELOG.rst b/mavros_extras/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mavros_extras
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.19.0 (2024-06-06)
+-------------------
+
 1.18.0 (2024-03-03)
 -------------------
 * [camera plugin] Fix image_index and capture_result not properly filled

diff --git a/mavros_extras/package.xml b/mavros_extras/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mavros_extras</name>
-  <version>1.18.0</version>
+  <version>1.19.0</version>
   <description>
     Extra nodes and plugins for <a href="http://wiki.ros.org/mavros">MAVROS</a>.
   </description>

diff --git a/mavros_msgs/CHANGELOG.rst b/mavros_msgs/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mavros_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.19.0 (2024-06-06)
+-------------------
+
 1.18.0 (2024-03-03)
 -------------------
 * sys_status.cpp: Add a SYS_STATUS message publisher

diff --git a/mavros_msgs/package.xml b/mavros_msgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mavros_msgs</name>
-  <version>1.18.0</version>
+  <version>1.19.0</version>
   <description>
     mavros_msgs defines messages for <a href="http://wiki.ros.org/mavros">MAVROS</a>.
   </description>

diff --git a/test_mavros/CHANGELOG.rst b/test_mavros/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package test_mavros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.19.0 (2024-06-06)
+-------------------
+
 1.18.0 (2024-03-03)
 -------------------
 

diff --git a/test_mavros/package.xml b/test_mavros/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>test_mavros</name>
-  <version>1.18.0</version>
+  <version>1.19.0</version>
   <description>Tests for MAVROS package</description>
 
   <maintainer email="vooon341@gmail.com">Vladimir Ermakov</maintainer>