[FEATURE]: Remove unnecessary modifications to MAVROS and source build

[evan-palmer]

Feature Type

Changing existing functionality in the BlueROV2 driver

Problem Description

The Dockerfile currently makes a few manual changes to the mavros_extras/CMakelists.txt file to address some linking errors to yaml-cpp. A PR was recently merged to address this issue (and subsequently updated in mavros!1994).

Feature Description

Remove stale changes in the Dockerfile.

Alternative Solutions

N/A

Additional Context

No response

[amarburg]

I've started an MR on this, but am seeing some unrelated (?) issues due to ... upstream API changes?

15.35 /home/ubuntu/ws_blue/src/auv_controllers/velocity_controllers/src/integral_sliding_mode_controller.cpp: In member function ‘virtual controller_interface::return_type v
elocity_controllers::IntegralSlidingModeController::update_and_write_commands(const rclcpp::Time&, const rclcpp::Duration&)’:
15.35 /home/ubuntu/ws_blue/src/auv_controllers/velocity_controllers/src/integral_sliding_mode_controller.cpp:345:15: error: ‘struct hydrodynamics::Inertia’ has no member nam
ed ‘getMassMatrix’; did you mean ‘mass_matrix’?
15.35   345 |     inertia_->getMassMatrix() * (proportional_gain_ * velocity_error) +
15.35       |               ^~~~~~~~~~~~~
15.35       |               mass_matrix
15.35 /home/ubuntu/ws_blue/src/auv_controllers/velocity_controllers/src/integral_sliding_mode_controller.cpp:346:16: error: ‘struct hydrodynamics::Coriolis’ has no member na
med ‘calculateCoriolisMatrix’; did you mean ‘calculate_coriolis_matrix’?
15.35   346 |     coriolis_->calculateCoriolisMatrix(velocity_state) * velocity_state +
15.35       |                ^~~~~~~~~~~~~~~~~~~~~~~
15.35       |                calculate_coriolis_matrix
15.35 /home/ubuntu/ws_blue/src/auv_controllers/velocity_controllers/src/integral_sliding_mode_controller.cpp:347:15: error: ‘struct hydrodynamics::Damping’ has no member nam
ed ‘calculateDampingMatrix’; did you mean ‘calculate_damping_matrix’?
15.35   347 |     damping_->calculateDampingMatrix(velocity_state) * velocity_state +
15.35       |               ^~~~~~~~~~~~~~~~~~~~~~
15.35       |               calculate_damping_matrix
15.35 /home/ubuntu/ws_blue/src/auv_controllers/velocity_controllers/src/integral_sliding_mode_controller.cpp:348:24: error: ‘struct hydrodynamics::RestoringForces’ has no me
mber named ‘calculateRestoringForcesVector’; did you mean ‘calculate_restoring_forces_vector’?
15.35   348 |     restoring_forces_->calculateRestoringForcesVector(system_rotation_.readFromRT()->toRotationMatrix());
15.35       |                        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
15.35       |                        calculate_restoring_forces_vector

I can beat on it a bit.

Also, I am ... confused by the <pkg>-gbp-release process. What's required to use a more modern mavlink and eliminate the matching monkey-patching to that package?

[evan-palmer]

unrelated (?) issues due to ... upstream API changes?

Yeah, I made some changes to that package and haven't merged auv_controllers!41 to resolve that yet. I was going to work through your PR there first.

Also, I am ... confused by the -gbp-release process. What's required to use a more modern mavlink and eliminate the matching monkey-patching to that package?

I'm probably going to submit a PR soon to fix this. I think the only change needed there is to update the mavros/dependencies.rosinstall file to a version that includes that fix.

[amarburg]

I'm probably going to submit a PR soon to fix this. I think the only change needed there is to update the mavros/dependencies.rosinstall file to a version that includes that fix.

Again, not an expert, so I may be misreading it, but it looks like all of the release versions in that repo are quite old (and don't have that fix) e.g. the "rolling" release:

https://github.com/mavlink/mavlink-gbp-release/blob/release/rolling/mavlink/pymavlink/generator/mavgen.py

Will this repo get forward-ported (automatically?) with a new release of mavros?

[evan-palmer]

auv_controllers should be updated and working for Rolling, Jazzy, Iron, and Humble now.

Will this repo get forward-ported (automatically?) with a new release of mavros?

I think that Vladimir has to do that manually... not sure though - I need to ask

[evan-palmer]

Here is the relevant MAVROS issue that I've submitted: mavros!1995