Merge branch 'ros2' into ros2-param-refactor

Author: Tomas Baca

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.15)
 project(mrs_uav_controllers)
 
 # set the correct standards
@@ -47,6 +47,7 @@ set(DEPENDENCIES
 
 set(LIBRARIES
   MrsUavControllers_MpcController
+  MrsUavControllers_Se3Controller
   MrsUavControllers_FailsafeController
   )
 
@@ -76,6 +77,20 @@ ament_target_dependencies(MrsUavControllers_MpcController
 
 target_compile_definitions(MrsUavControllers_MpcController PRIVATE USE_ROS_TIMER=${USE_ROS_TIMER})
 
+# SE3 Controller
+
+add_library(MrsUavControllers_Se3Controller SHARED
+  src/se3_controller.cpp
+  src/common.cpp
+  )
+
+ament_target_dependencies(MrsUavControllers_Se3Controller
+  mrs_mpc_solvers
+  ${DEPENDENCIES}
+  )
+
+target_compile_definitions(MrsUavControllers_Se3Controller PRIVATE USE_ROS_TIMER=${USE_ROS_TIMER})
+
 # Failsafe Controller
 
 add_library(MrsUavControllers_FailsafeController SHARED

plugins.xml

@@ -4,6 +4,12 @@
   </class>
 </library>
 
+<library path="MrsUavControllers_Se3Controller">
+  <class type="mrs_uav_controllers::se3_controller::Se3Controller" base_class_type="mrs_uav_managers::Controller">
+    <description>Se3Controller</description>
+  </class>
+</library>
+
 <library path="MrsUavControllers_FailsafeController">
   <class type="mrs_uav_controllers::failsafe_controller::FailsafeController" base_class_type="mrs_uav_managers::Controller">
     <description>FailsafeController</description>

src/mpc_controller.cpp

@@ -111,14 +111,6 @@ class MpcController : public mrs_uav_managers::Controller {
 
   // | --------------- dynamic reconfigure server --------------- |
 
-  // original ROS1 drs
-  /* boost::recursive_mutex                            mutex_drs_; */
-  /* typedef mrs_uav_controllers::mpc_controllerConfig DrsConfig_t; */
-  /* typedef dynamic_reconfigure::Server<DrsConfig_t>  Drs_t; */
-  /* boost::shared_ptr<Drs_t>                          drs_; */
-  /* void                                              callbackDrs(mrs_uav_controllers::mpc_controllerConfig &config, uint32_t level); */
-  /* DrsConfig_t                                       drs_params_; */
-
   struct DrsParams_t
   {
     double kiwxy;