WIP: TCP issues

.github/workflows/tii-build-test.yml

@@ -0,0 +1,25 @@
+name: TII Build Test
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+
+jobs:
+  build-test:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout mavlink-router
+        uses: actions/checkout@v2
+        with:
+          submodules: recursive
+
+      - uses: docker/setup-buildx-action@v1
+
+      - name: Build PX4-SITL_gazebo
+        uses: docker/build-push-action@v2
+        with:
+          context: .
+          file: ./Dockerfile.build_test
+          push: false

.github/workflows/tii-validate_sdf.yml

@@ -0,0 +1,25 @@
+name: TII Validate SDF files
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+
+jobs:
+  validate-sdf:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout mavlink-router
+        uses: actions/checkout@v2
+        with:
+          submodules: recursive
+
+      - uses: docker/setup-buildx-action@v1
+
+      - name: Generate SDF files and validate
+        uses: docker/build-push-action@v2
+        with:
+          context: .
+          file: ./Dockerfile.validate_sdf
+          push: false

.gitignore

@@ -28,3 +28,4 @@ models/boat/boat.sdf
 models/typhoon_h480/typhoon_h480.sdf
 models/depth_camera/depth_camera.sdf
 models/standard_vtol_drop/standard_vtol_drop.sdf
+models/ssrc_fog_x/ssrc_fog_x.sdf

CMakeLists.txt

@@ -47,6 +47,8 @@ option(SEND_ODOMETRY_DATA "Send Mavlink ODOMETRY msgs" OFF)
 find_package(Boost 1.58 REQUIRED COMPONENTS system thread filesystem)
 find_package(gazebo REQUIRED)
 find_package(PkgConfig REQUIRED)
+find_package(gazebo_ros REQUIRED)
+find_package(std_srvs REQUIRED)
 pkg_search_module(GLIB REQUIRED glib-2.0)
 # Note: If using catkin, Python 2 is found since it points
 # to the Python libs installed with the ROS distro
@@ -194,6 +196,7 @@ include_directories(
   ${OpenCV_INCLUDE_DIRS}
   ${OpticalFlow_INCLUDE_DIRS}
   ${TinyXML_INCLUDE_DIRS}
+  ${gazebo_ros_INCLUDE_DIRS}
   )
 
 if (GSTREAMER_FOUND)
@@ -368,12 +371,14 @@ add_library(gazebo_usv_dynamics_plugin SHARED src/gazebo_usv_dynamics_plugin.cpp
 add_library(gazebo_parachute_plugin SHARED src/gazebo_parachute_plugin.cpp)
 add_library(gazebo_airship_dynamics_plugin SHARED src/gazebo_airship_dynamics_plugin.cpp)
 add_library(gazebo_drop_plugin SHARED src/gazebo_drop_plugin.cpp)
+add_library(gazebo_group_pos_plugin SHARED src/gazebo_group_pos_plugin.cpp)
 
 set(plugins
   gazebo_airspeed_plugin
   gazebo_camera_manager_plugin
   gazebo_gps_plugin
   gazebo_groundtruth_plugin
+  gazebo_group_pos_plugin
   gazebo_irlock_plugin
   gazebo_lidar_plugin
   gazebo_opticalflow_mockup_plugin

Dockerfile.build_test

@@ -0,0 +1,28 @@
+FROM ros:galactic-ros-base
+
+ENV LANG C.UTF-8
+ENV LANGUAGE C.UTF-8
+ENV LC_ALL C.UTF-8
+
+RUN apt-get update -y && apt-get install -y --no-install-recommends \
+    build-essential git wget cmake lsb-core ninja-build \
+    ros-galactic-gazebo-ros \
+    libopencv-dev \
+    libgstreamer-plugins-base1.0-dev \
+    python3-jinja2 \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN git clone -q https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink/v2.0 && \
+    cd /usr/local/include/mavlink/v2.0 && git checkout -q f03d91ae932dd718d81f851b584dbd21cffafdd2 && \
+    rm -rf /usr/local/include/mavlink/v2.0/.git
+
+WORKDIR /px4_sitl_gazebo
+COPY . .
+
+SHELL ["/bin/bash", "-c"]
+
+RUN source /opt/ros/galactic/setup.bash && \
+    mkdir -p build && \
+    cd build && \
+    cmake .. && \
+    make -j $(nproc)

Dockerfile.validate_sdf

@@ -0,0 +1,30 @@
+FROM ros:galactic-ros-base
+
+ENV LANG C.UTF-8
+ENV LANGUAGE C.UTF-8
+ENV LC_ALL C.UTF-8
+
+RUN apt-get update -y && apt-get install -y --no-install-recommends \
+    build-essential git wget cmake lsb-core ninja-build \
+    ros-galactic-gazebo-ros \
+    libopencv-dev \
+    libgstreamer-plugins-base1.0-dev \
+    python3-jinja2 \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN git clone -q https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink/v2.0 && \
+    cd /usr/local/include/mavlink/v2.0 && git checkout -q f03d91ae932dd718d81f851b584dbd21cffafdd2 && \
+    rm -rf /usr/local/include/mavlink/v2.0/.git
+
+WORKDIR /px4_sitl_gazebo
+COPY . .
+
+SHELL ["/bin/bash", "-c"]
+
+RUN source /opt/ros/galactic/setup.bash && \
+    mkdir -p build && \
+    cd build && \
+    cmake .. && \
+    make models_gen
+
+RUN source scripts/validate_sdf.bash