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assets: Update sitl_gazebo patch

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This commit is contained in:
Alexey Rogachevskiy
2020-10-25 23:03:37 +03:00
parent 841f8f45b1
commit b3dd27356e
1 changed files with 15 additions and 40 deletions
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55
assets/patches/sitl_gazebo.patch
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@@ -1,40 +1,15 @@
diff --git a/include/gazebo_opticalflow_plugin.h b/include/gazebo_opticalflow_plugin.h
index 4fbeab2..18a192b 100644
--- a/include/gazebo_opticalflow_plugin.h
+++ b/include/gazebo_opticalflow_plugin.h
@@ -40,7 +40,7 @@
#include "flow_px4.hpp"
#define DEFAULT_RATE 20
-#define HAS_GYRO TRUE
+#define HAS_GYRO true
using namespace cv;
using namespace std;
diff --git a/src/gazebo_geotagged_images_plugin.cpp b/src/gazebo_geotagged_images_plugin.cpp
index 050558f..7029199 100644
--- a/src/gazebo_geotagged_images_plugin.cpp
+++ b/src/gazebo_geotagged_images_plugin.cpp
@@ -581,7 +581,8 @@ void GeotaggedImagesPlugin::_send_capture_status(struct sockaddr* srcaddr)
0, // video status (Idle)
interval, // image interval
0, // recording_time_s
- available_mib); // available_capacity
+ available_mib, // available_capacity
+ _imageCounter);
_send_mavlink_message(&msg, srcaddr);
}
diff --git a/src/gazebo_mavlink_interface.cpp b/src/gazebo_mavlink_interface.cpp
index 5d29017..d4dd6a7 100644
--- a/src/gazebo_mavlink_interface.cpp
+++ b/src/gazebo_mavlink_interface.cpp
@@ -1039,7 +1039,7 @@ void GazeboMavlinkInterface::VisionCallback(OdomPtr& odom_message) {
odom.time_usec = odom_message->time_usec();
- odom.frame_id = MAV_FRAME_VISION_NED;
+ odom.frame_id = 16 /*MAV_FRAME_VISION_NED*/;
odom.child_frame_id = MAV_FRAME_BODY_FRD;
odom.x = position.X();
diff --git a/package.xml b/package.xml
index ae0fb34..12f17b8 100644
--- a/package.xml
+++ b/package.xml
@@ -50,8 +50,8 @@
<build_depend>roscpp</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>
- <build_depend>python-rospkg</build_depend>
- <build_depend>python-jinja2</build_depend>
+ <build_depend>python3-rospkg</build_depend>
+ <build_depend>python3-jinja2</build_depend>
<run_depend>eigen</run_depend>
<run_depend>gazebo_ros</run_depend>
<run_depend>geometry_msgs</run_depend>