Update

.clang-format

@@ -1,65 +1,20 @@
-# From https://github.com/PickNikRobotics/roscpp_code_format
-
+# Based on https://github.com/ament/ament_lint/blob/rolling/ament_clang_format/ament_clang_format/configuration/.clang-format
 ---
+Language: Cpp
 BasedOnStyle: Google
-AccessModifierOffset: -2
-ConstructorInitializerIndentWidth: 2
-AlignEscapedNewlinesLeft: false
-AlignTrailingComments: true
-AllowAllParametersOfDeclarationOnNextLine: false
-AllowShortIfStatementsOnASingleLine: false
-AllowShortLoopsOnASingleLine: false
-AllowShortFunctionsOnASingleLine: None
-AlwaysBreakTemplateDeclarations: true
-AlwaysBreakBeforeMultilineStrings: true
-BreakBeforeBinaryOperators: false
-BreakBeforeTernaryOperators: false
-BreakConstructorInitializersBeforeComma: true
-BinPackParameters: true
-ColumnLimit: 120
-ConstructorInitializerAllOnOneLineOrOnePerLine: true
-DerivePointerBinding: false
-PointerBindsToType: true
-ExperimentalAutoDetectBinPacking: false
-IndentCaseLabels: true
-MaxEmptyLinesToKeep: 1
-NamespaceIndentation: None
-ObjCSpaceBeforeProtocolList: true
-PenaltyBreakBeforeFirstCallParameter: 19
-PenaltyBreakComment: 60
-PenaltyBreakString: 1
-PenaltyBreakFirstLessLess: 1000
-PenaltyExcessCharacter: 1000
-PenaltyReturnTypeOnItsOwnLine: 90
-SpacesBeforeTrailingComments: 2
-Cpp11BracedListStyle: false
-Standard: Auto
-IndentWidth: 2
-TabWidth: 2
-UseTab: Never
-IndentFunctionDeclarationAfterType: false
-SpacesInParentheses: false
-SpacesInAngles: false
-SpaceInEmptyParentheses: false
-SpacesInCStyleCastParentheses: false
-SpaceAfterControlStatementKeyword: true
-SpaceBeforeAssignmentOperators: true
-ContinuationIndentWidth: 4
-SortIncludes: false
-SpaceAfterCStyleCast: false
-
-# Configure each individual brace in BraceWrapping
-BreakBeforeBraces: Custom
 
-# Control of individual brace wrapping cases
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
 BraceWrapping:
-  AfterClass: 'true'
-  AfterControlStatement: 'true'
-  AfterEnum : 'true'
-  AfterFunction : 'true'
-  AfterNamespace : 'true'
-  AfterStruct : 'true'
-  AfterUnion : 'true'
-  BeforeCatch : 'true'
-  BeforeElse : 'true'
-  IndentBraces : 'false'
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+  AfterEnum: true
+BreakBeforeBraces: Custom
+ColumnLimit: 120
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: true

.vscode/c_cpp_properties.json

@@ -3,7 +3,7 @@
         {
             "name": "Linux",
             "includePath": [
-                "${workspaceFolder}/**",
+                "${workspaceFolder}/install/**",
                 "/opt/ros/humble/include/**"
             ],
             "defines": [],

.vscode/extensions.json

@@ -7,8 +7,7 @@
                 "streetsidesoftware.code-spell-checker",
                 "ms-vscode.cpptools",
                 "dotjoshjohnson.xml",
-                "rioj7.command-variable",
                 "redhat.vscode-yaml",
-                "ms-python.black-formatter"
+                "ms-python.black-formatter",
         ]
 }

.vscode/settings.json

@@ -4,11 +4,13 @@
     ],
     "files.associations": {
         "*.cmake.in": "cmake",
+        "*.yaml.in": "yaml",
         "*.repos": "yaml",
         "*.world": "xml",
         "*.xacro": "xml",
         "*.sdf": "xml",
         "*.plan": "json",
+        "*.btproj": "xml",
     },
     "python.analysis.extraPaths": [
         "/opt/ros/humble/lib/python3.10/site-packages/",
@@ -34,7 +36,6 @@
         "**/install": true,
         "**/log": true
     },
-    "cSpell.diagnosticLevel": "Hint",
     "cSpell.words": [
         "APMS",
         "athackst",
@@ -68,11 +69,19 @@
             "icon": "terminal-bash",
             "args": [
                 "--init-file",
-                "${workspaceFolder:px4-ros2-env}/env.sh",
+                "${workspaceFolder}/env.sh",
                 "-i"
             ]
         },
     },
     "terminal.integrated.defaultProfile.linux": "px4-ros2-env",
-    "editor.detectIndentation": false
+    "editor.detectIndentation": true,
+    "C_Cpp.clang_format_fallbackStyle": "none",
+    "C_Cpp.clang_format_style": "file:${workspaceFolder}/.clang-format",
+    "C_Cpp.files.exclude": {
+        "${workspaceFolder}/build": true,
+        "${workspaceFolder}/install": true,
+        "**/.vscode": true,
+        "**/.vs": true
+    },
 }

.vscode/tasks.json

@@ -162,7 +162,7 @@
             "type": "shell",
             "command": "${workspaceFolder}/world/export.sh",
             "problemMatcher": []
-        }
+        },
         {
             "label": "New ament_cmake package",
             "detail": "Create a new ROS cpp package from a template.",
@@ -181,12 +181,8 @@
     "inputs": [
         {
             "id": "package",
-            "type": "command",
-            "command": "extension.commandvariable.promptStringRemember",
-            "args": {
-                "key": "package_name",
-                "description": "Package name"
-            }
+            "type": "promptString",
+            "description": "Package name"
         }
     ]
 }

dep.sh

@@ -8,14 +8,12 @@
 
 set -e
 
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
-
-vcs import < "${SCRIPT_DIR}/src/ros2.repos" "${SCRIPT_DIR}/src" --recursive
+vcs import < "./src/ros2.repos" "./src" --recursive
 
 if command -v rosdep &> /dev/null; then
     if [ ! -d /etc/ros/rosdep/sources.list.d ]; then
         sudo rosdep init -q # Init rosdep if not happend yet
     fi
     rosdep update
-    rosdep install --from-paths "${SCRIPT_DIR}/src" --ignore-src -y
+    rosdep install --from-paths "./src" --ignore-src -y
 fi

env.sh

@@ -7,7 +7,7 @@
 #
 # ----------------------------------------------------------------------
 
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+WORKSPACE_ROOT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
 
 source ~/.bashrc
 
@@ -22,8 +22,8 @@ fi
 if [ -d /usr/share/colcon_argcomplete ]; then
     source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
 fi
-if [ -f "${SCRIPT_DIR}/install/local_setup.bash" ]; then 
-    source "${SCRIPT_DIR}/install/local_setup.bash"
+if [ -f "${WORKSPACE_ROOT_DIR}/install/local_setup.bash" ]; then 
+    source "${WORKSPACE_ROOT_DIR}/install/local_setup.bash"
 fi
 
 export PX4_ROS2_ENV_DEFAULT_BASE_DIR="$HOME/Desktop"

setup.sh

@@ -6,10 +6,8 @@
 #
 # ----------------------------------------------------------------------
 
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
-
 set -e
-source ${SCRIPT_DIR}/env.sh
+source ./env.sh
 
 # ROS2 Humble Hawksbill
 sudo apt install software-properties-common -y
@@ -23,7 +21,7 @@ sudo apt install ros-humble-ros-base -y
 sudo apt install ros-dev-tools -y
 
 # PX4 Autopilot
-PX4_VERSION="v1.15.0"
+PX4_VERSION="v1.15.1"
 
 if [ ! -d "$PX4_ROS2_ENV_PX4_AUTOPILOT_DIR" ]; then
     echo -e "\e[1;33m--- PX4 Autopilot not found. Installing...\e[0m"
@@ -35,7 +33,7 @@ else
 fi
 
 # QGroundControl
-QGC_VERSION="v4.4.0"
+QGC_VERSION="v4.4.2"
 
 if [ ! -f "${PX4_ROS2_ENV_QGROUNDCONTROL_APP}" ]; then
     echo -e "\033[1;33m--- QGroundControl not found. Installing...\e[0m"
@@ -61,7 +59,7 @@ else
 fi
 
 # source again after major installations
-source ${SCRIPT_DIR}/env.sh
+source ./env.sh
 
-${SCRIPT_DIR}/world/export.sh
-${SCRIPT_DIR}/dep.sh
+(cd ./world && ./export.sh)
+./dep.sh

src/ros2.repos

@@ -12,17 +12,13 @@ repositories:
   dep/px4/px4_msgs:
     type: git
     url: https://github.com/PX4/px4_msgs.git
-    version: 31d0ac838f4adc1730ca21169130c0073e8631de
+    version: release/1.15
   dep/px4/px4_ros2_interface_lib:
     type: git
     url: https://github.com/Auterion/px4-ros2-interface-lib
-    version: 1.2.7
+    version: 1.3.0
 
   # Additional requirements for developing with AutoAPMS framework
-  # dep/behaviortree_cpp:
-  #   type: git
-  #   url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
-  #   version: 4.6.2
   # dep/auto-apms:
   #   type: git
   #   url: https://github.com/robin-mueller/auto-apms.git

world/export.sh

@@ -7,11 +7,9 @@
 #
 # ----------------------------------------------------------------------
 
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
-
 set -e
-source ${SCRIPT_DIR}/../env.sh
+source ./../env.sh
 
 # Copy the .sdf file to the resource directory
 echo "Exporting worlds to PX4 ($PX4_ROS2_ENV_PX4_AUTOPILOT_DIR)"
-cp -v ${SCRIPT_DIR}/*.sdf "${PX4_ROS2_ENV_PX4_AUTOPILOT_DIR}/Tools/simulation/gz/worlds"
+cp -v ./*.sdf "${PX4_ROS2_ENV_PX4_AUTOPILOT_DIR}/Tools/simulation/gz/worlds"