added packages for the robot and px4 interfaces

robot/autonomy/controls/mav_comm/.clang-format

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+BasedOnStyle: Google
+DerivePointerAlignment: true

robot/autonomy/controls/mav_comm/README.md

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+mav_comm
+========
+
+This repository contains message and service definitions used for mavs. All future message definitions go in here, existing ones in other stacks should be moved here where possible.

robot/autonomy/controls/mav_comm/mav_comm/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package mav_comm
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+3.3.3 (2019-08-16)
+------------------
+* Add 6DOF trajectory compatibility.
+* See mav_msgs and mav_planning_msgs changelogs for details.
+
+3.3.2 (2018-08-22)
+------------------
+* Fix indigo eigen3 compatibility.
+
+3.3.1 (2018-08-21)
+------------------
+* Change maintainer.
+* Add dependencies, see planning_msgs changelog for details.
+
+3.3.0 (2018-08-17)
+------------------
+* More utilities and lower level UAV kinematics, see mav_msgs changelog for details.
+* 2D polygon planning msgs, see planings_msgs changelog for details.
+
+3.1.0 (2016-12-01)
+------------------
+* More helper functions, see mav_msgs changelog for details.
+
+3.0.0 (2015-08-09)
+------------------
+* Changed API for mav_msgs, see mav_msgs changelog for details.
+
+2.0.3 (2015-05-22)
+------------------

robot/autonomy/controls/mav_comm/mav_comm/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.14.4)
+project(mav_comm)
+
+find_package(ament_cmake REQUIRED)
+
+find_package(mav_msgs REQUIRED)
+find_package(mav_planning_msgs REQUIRED)
+find_package(mav_state_machine_msgs REQUIRED)
+find_package(mav_system_msgs REQUIRED)
+
+ament_package()

robot/autonomy/controls/mav_comm/mav_comm/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>mav_comm</name>
+  <version>3.3.3</version>
+  <description>Contains messages and services for MAV communication</description>
+
+  <maintainer email="[email protected]">Rik Bähnemann</maintainer>
+
+  <author>Simon Lynen</author>
+  <author>Markus Achtelik</author>
+  <author>Pascal Gohl</author>
+  <author>Sammy Omari</author>
+  <author>Michael Burri</author>
+  <author>Fadri Furrer</author>
+  <author>Helen Oleynikova</author>
+  <author>Mina Kamel</author>
+  <author>Karen Bodie</author>
+  <author>Rik Bähnemann</author>
+
+  <license>ASL 2.0</license>
+
+  <url type="website">https://github.com/ethz-asl/mav_comm</url>
+  <url type="bugtracker">https://github.com/ethz-asl/mav_comm/issues</url>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <exec_depend>mav_msgs</exec_depend>
+  <exec_depend>mav_planning_msgs</exec_depend>
+  <exec_depend>mav_state_machine_msgs</exec_depend>
+  <exec_depend>mav_system_msgs</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

robot/autonomy/controls/mav_comm/mav_msgs/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package mav_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+3.3.3 (2019-08-16)
+------------------
+* Add `degrees_of_freedom` to EigenTrajectoryPoint for 6DOF compatibility.
+* Add functions to common.h:
+*   skewMatrixFromVector, vectorFromSkewMatrix, isRotationMatrix, 
+*   matrixFromRotationVector, vectorFromRotationMatrix, omegaFromRotationVector
+*   omegaDotFromRotationVector
+
+3.3.2 (2018-08-22)
+------------------
+* Fix indigo eigen3 compatibility.
+
+3.3.1 (2018-08-21)
+------------------
+* Fix Eigen3 warning. Migration from Jade.
+* Change maintainer.
+
+3.3.0 (2018-08-17)
+------------------
+* Add time conversion utilities.
+* Add motor position and force default topics.
+* Add conversion from pose message to Eigen trajectory point.
+* Add angular accelerations as member of EigenMavState to calculate motor speeds.
+* Contributors: Helen Oleynikova, Karen Bodie, Rik Bähnemann
+
+3.2.0 (2017-03-02)
+------------------
+* Access covariance in eigen odometry
+* External force default topic
+* External wind speed default topic
+
+3.1.0 (2016-12-01)
+------------------
+* Add getEulerAngles method to EigenOdometry message.
+* Improved quaternionFromMsg unit quaternion checking.
+* Add EigenMavState to eigen_mav_msgs.
+* Add EigenMavStateFromEigenTrajectoryPoint conversion.
+* Add `timestamp_ns` to EigenTrajectoryPoint.
+* Add default values in a seperate header.
+* Add in_air bool to Status.msg.
+* Add many helper function to calculate earth gravitational field based on hight and latitude, get euler angles from quaternion and shortest distance between two yaw angles.
+* Contributors: Mina Kamel, Helen Oleynikova, Michael Burri
+
+3.0.0 (2015-08-09)
+------------------
+* Dropped "Command" from the names of all messages.
+* Converted CommandPositionYawTrajectory message to MultiDOFJointTrajectory (with an additional option to use a geometry_msgs/PoseStamped instead) as the two ways to send trajectory/waypoint commands.
+* Added conversions between the Eigen and ROS message types.
+* Switched to using full orientation instead of just yaw where appropriate.
+* Documented reference frame in the Eigen messages where possible.
+* Contributors: Helen Oleynikova, Markus Achtelik
+
+2.0.3 (2015-05-22)
+------------------
+* added install target for include
+  Headers can be included outside of this package.
+* Contributors: Fadri Furrer

robot/autonomy/controls/mav_comm/mav_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.14.4...3.27)
+project(mav_msgs)
+
+if(${CMAKE_VERSION} VERSION_GREATER 3.27)
+  cmake_policy(SET CMP0148 OLD)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+find_package(Eigen3 REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(trajectory_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/Actuators.msg
+  msg/AttitudeThrust.msg
+  msg/FilteredSensorData.msg
+  msg/GpsWaypoint.msg
+  msg/RateThrust.msg
+  msg/RollPitchYawrateThrust.msg
+  msg/Status.msg
+  msg/TorqueThrust.msg
+  DEPENDENCIES std_msgs geometry_msgs nav_msgs
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+install(
+  DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION include/${PROJECT_NAME}
+  FILES_MATCHING PATTERN "*.hpp"
+)
+
+ament_package()