Imported upstream version '2.5.0' of 'upstream'

.editorconfig

@@ -0,0 +1,3 @@
+[*.{cpp,hpp}]
+indent_style = space
+indent_size = 4

.github/workflows/main.yml

@@ -7,11 +7,15 @@ on: [push, pull_request]
 jobs:
   industrial_ci:
     strategy:
+      fail-fast: false
       matrix:
         env:
-          # - {ROS_DISTRO: melodic, ROS_REPO: testing}
-          - {ROS_DISTRO: melodic, ROS_REPO: main}
-          - {ROS_DISTRO: noetic, ROS_REPO: main}
+          # - {ROS_DISTRO: foxy, ROS_REPO: testing}
+          - {ROS_DISTRO: foxy, ROS_REPO: main}
+          # - {ROS_DISTRO: galactic, ROS_REPO: testing}
+          - {ROS_DISTRO: galactic, ROS_REPO: main}
+          - {ROS_DISTRO: humble, ROS_REPO: main}
+          - {ROS_DISTRO: rolling, ROS_REPO: testing}
     env:
       CCACHE_DIR: /github/home/.ccache
       AFTER_INSTALL_TARGET_DEPENDENCIES: ./mavros/scripts/install_geographiclib_datasets.sh

CONTRIBUTING.md

@@ -1,46 +1,76 @@
-Contributing
-============
-
-
-1. Fork the repo:
-   ![fork](http://s24.postimg.org/pfvt9sdv9/Fork_mavros.png)
-2. Clone the repo (`git clone https://github.com/mavlink/mavros.git`);
-3. Create a remote connection to your repo (`git remote add <remote_repo> [email protected]:<YourGitUser>/mavros.git`);
-4. Create a feature/dev branch (`git checkout -b <feature_branch>`);
-5. Add the changes;
-6. Apply the changes by committing (`git commit -m "<message>"` or `git commit -a` and then write message; if adding new files: `git add <path/to/file.ext>`);
-7. Check code style `uncrustify -c ${ROS_WORKSPACE}/src/mavros/mavros/tools/uncrustify-cpp.cfg --replace --no-backup <path/to/file.ext>`;
-8. Fix small code style errors and typos;
-9. Commit with description like "uncrustify" or "code style fix". Please avoid changes in program logic (separate commit are better than mix of style and bug fix);
+# Contributing
+
+1. Fork the repo. [<img src="https://upload.wikimedia.org/wikipedia/commons/3/38/GitHub_Fork_Button.png" height="30"/>](https://github.com/mavlink/mavros/fork)
+2. Clone the repo into your workspace:
+
+  ```bash
+  git clone https://github.com/mavlink/mavros.git
+  ```
+
+3. Create a remote connection to your repo:
+
+  ```bash
+  git remote add origin [email protected]:<YourGitUser>/mavros.git
+  ```
+
+4. Create a feature/dev branch:
+
+  ```bash
+  git checkout -b <feature_branch>
+  ```
+
+5. Make your changes.
+6. Commit the changes. The `-a` option automatically adds and removes files for you.
+
+  ```bash
+  git commit -a -m "<message>"
+  ```
+
+7. Check your code style:
+
+  ```bash
+  uncrustify -c ${ROS_WORKSPACE}/src/mavros/mavros/tools/uncrustify-cpp.cfg --replace --no-backup <path/to/file.ext>
+  ```
+
+8. Fix small code style errors and typos.
+9. Commit with a description like "uncrustify" or "code style fix". Please avoid changes in program logic (separate commits are better than a mix of style and bug fixes).
 10. Run tests:
-   - with `catkin_make`, issue `catkin_make tests` and then `catkin_make run_tests`;
-   - with `catkin tools`, issue `catkin run_tests`;
-11. If everything goes as planned, push the changes (`git push -u <remote_repo> <feature_branch>`) and issue a pull request.
 
+- with `catkin_make`, issue `catkin_make tests` and then `catkin_make run_tests`;
+- with `catkin tools`, issue `catkin run_tests`;
+
+11. If everything goes as planned, push the changes and issue a pull request.
 
-cog.py generators
------------------
+```bash
+git push -u origin <feature_branch>
+```
 
-In many places we need to copy some data from MAVLink, and in many places we have regular patterns of code (e.g. copy message fields).
-To avoid manual copy-paste work (and errors!) we use [cog.py][cog] generator/preprocessor.
-Generator program written in comment blocks on Python (that allow import pymavlink), output will be inserted between markers.
-As an example you may look at `utils::to_string()` implementation for some enums: [lib/enum_to_string.cpp][ets].
+## cog.py generators
 
-To install it :
+In many places we need to copy some data from MAVLink, and in many places we have regular patterns of code (e.g. copied message fields).
+To avoid manual copy-paste work (and errors!) we use the the [cog.py][cog] code generator/preprocessor.
 
-    pip install --user cogapp pymavlink
+Cog generates C++ code from code blocks written in Python that you add into your C++ code file as specially formatted comments. Since you are now using Python, you can import and make use of the [pymavlink][pml] module, which already comes with MAVlink message definitions that you can reuse.
+An example you may look at is the `utils::to_string()` implementation for some enums in [lib/enum_to_string.cpp][ets].
 
-Then fill the behaviour you when between the `[[[cog:]]]` `[[[end]]]` balise
-and invoke cog like this:
+Install cog and pymavlink:
 
-    cog.py -cr your_file.h/cpp
+```bash
+pip install --user cogapp pymavlink
+```
 
-Your file will be updated by cog.
+Add your generator code to your file as comments enclosed in the `[[[cog:]]]` and `[[[end]]]` tags. Then invoke cog so that it updates your file:
 
-    ./mavros/tools/cogall.sh
+```bash
+cog.py -cr your_file.h/cpp
+```
 
-This script will regenerate all files with generators.
+In addition, this script will re-generate all files with cog code:
 
+```bash
+./mavros/tools/cogall.sh
+```
 
 [cog]: https://nedbatchelder.com/code/cog/
 [ets]: https://github.com/mavlink/mavros/blob/master/mavros/src/lib/enum_to_string.cpp
+[pml]: https://mavlink.io/en/mavgen_python/