refreshed the examples for the new system

.github/workflows/ros_build_test.yml

@@ -0,0 +1,25 @@
+name: ros_build_test
+
+on:
+
+  push:
+    branches: [ master ]
+
+    paths-ignore:
+      - '**/README.md'
+
+  pull_request:
+    branches: [ master ]
+
+  workflow_dispatch:
+
+concurrency:
+  group: ${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+
+  build:
+    uses: ctu-mrs/ci_scripts/.github/workflows/ros_build_test.yml@master
+    secrets:
+      PUSH_TOKEN: ${{ secrets.PUSH_TOKEN }}

.gitignore

@@ -1,4 +1,2 @@
-.gitman
-
 *.swp
 *.swo

README.md

@@ -1,15 +1,24 @@
-# Example packages
+# MRS Core Examples
 
-| Build status | [![Build Status](https://github.com/ctu-mrs/example_ros_packages/workflows/Melodic/badge.svg)](https://github.com/ctu-mrs/example_ros_packages/actions) | [![Build Status](https://github.com/ctu-mrs/example_ros_packages/workflows/Noetic/badge.svg)](https://github.com/ctu-mrs/example_ros_packages/actions) |
-|--------------|---------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------|
-
-This repository includes other ROS packages, demonstrating some basic functionality to get you started.
-You can test these in simulation (see our [simulation tutorial](https://ctu-mrs.github.io/docs/simulation/howto.html)).
-Follow our **[How to manager ROS workspaces](https://ctu-mrs.github.io/docs/system/managing_ros_workspaces.html)** guide to learn **how to set up** a custom workspace.
+This repository includes Core ROS examples for the [MRS UAV System](https://github.com/ctu-mrs/mrs_uav_system).
 
 ## Packages
 
-* [example_ros_uav_simple](https://github.com/ctu-mrs/example_ros_uav_simple) - Example of a simple nodelet
-* [example_ros_uav](https://github.com/ctu-mrs/example_ros_uav) - Example of UAV control
-* [example_ros_vision](https://github.com/ctu-mrs/example_ros_vision) - Example of UAV computer vision
-* [example_ros_pluginlib](https://github.com/ctu-mrs/example_ros_pluginlib) - Example of ROS Pluginlib, similar to how it is used in the [ControlManager](https://github.com/ctu-mrs/mrs_uav_managers)
+* [waypoint_flier_simple](./waypoint_flier_simple) - Minimalistic C++ Nodelet with "_vanilla_" ROS features
+* [waypoint_flier](./waypoint_flier) - Full C++ Nodelet with "_MRS_" libraries and wrappers
+* [controller_plugin](./controller_plugin) - Example of Controller plugin for the [ControlManager](https://github.com/ctu-mrs/mrs_uav_managers)
+* [tracker_plugin](./tracker_plugin) - Example of Tracker plugin for the [ControlManager](https://github.com/ctu-mrs/mrs_uav_managers)
+* [pluginlib_example](./pluginlib_example) - Example of ROS Pluginlib, similar to how it is used in the [ControlManager](https://github.com/ctu-mrs/mrs_uav_managers)
+
+# Disclaimer
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

controller_plugin/CMakeLists.txt

@@ -0,0 +1,82 @@
+cmake_minimum_required(VERSION 3.1.2)
+project(example_controller_plugin)
+
+set(CATKIN_DEPENDENCIES
+  cmake_modules
+  roscpp
+  rospy
+  pluginlib
+  geometry_msgs
+  dynamic_reconfigure
+  mrs_uav_managers
+  mrs_msgs
+  mrs_lib
+  )
+
+find_package(catkin REQUIRED COMPONENTS
+  ${CATKIN_DEPENDENCIES}
+  )
+
+generate_dynamic_reconfigure_options(
+  cfg/example_controller.cfg
+  )
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
+
+find_package(Eigen3 REQUIRED)
+set(Eigen_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS})
+set(Eigen_LIBRARIES ${Eigen_LIBRARIES})
+
+set(LIBRARIES
+  ExampleController
+  )
+
+catkin_package(
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS ${CATKIN_DEPENDENCIES}
+  LIBRARIES ${LIBRARIES}
+  DEPENDS Eigen
+  )
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake
+  )
+
+# Example Controller
+
+add_library(ExampleController
+  src/example_controller.cpp
+  )
+
+add_dependencies(ExampleController
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+  ${PROJECT_NAME}_gencfg
+  )
+
+target_link_libraries(ExampleController
+  ${catkin_LIBRARIES}
+  )
+
+## --------------------------------------------------------------
+## |                           Install                          |
+## --------------------------------------------------------------
+
+install(TARGETS ${LIBRARIES}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+  )
+
+install(DIRECTORY config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )
+
+install(FILES plugins.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )

controller_plugin/README.md

@@ -0,0 +1,3 @@
+# example_controller_plugin
+
+Example controller plugin for the MRS Control Manager.

controller_plugin/cfg/example_controller.cfg

@@ -0,0 +1,21 @@
+#!/usr/bin/env python
+PACKAGE = "example_controller_plugin"
+
+import roslib;
+roslib.load_manifest(PACKAGE)
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+orientation = gen.add_group("Desired orientation");
+
+orientation.add("roll", double_t, 0, "Desired roll", 0.0, -3.14, 3.14)
+orientation.add("pitch", double_t, 0, "Desired pitch", 0.0, -3.14, 3.14)
+orientation.add("yaw", double_t, 0, "Desired pitch", 0.0, -3.14, 3.14)
+
+force = gen.add_group("Desired force relative to hover");
+
+force.add("force", double_t, 0, "Desired force", 0.0, -10.0, 10.0)
+
+exit(gen.generate(PACKAGE, "ExampleController", "example_controller"))

controller_plugin/config/example_controller.yaml

@@ -0,0 +1,4 @@
+desired_roll:         0.03 # [rad]
+desired_pitch:        0.02 # [rad]
+desired_yaw:          0.1 # [rad]
+desired_thrust_force: 0.2 # [N], additional to gravity compensation