update Mavlink usage to match PX4

- PX4 now generates mavlink headers in the build directory
PX4 · Nov 6, 2021 · 0ea4dbe · 0ea4dbe
1 parent ad0b484
commit 0ea4dbe
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Showing 5 changed files with 17 additions and 8 deletions.
diff --git a/.github/workflows/build_test.yml b/.github/workflows/build_test.yml
@@ -23,7 +23,7 @@ jobs:
     - name: submodule update
       run: git submodule update --init --recursive
     - name: Install latest mavlink
-      run: git clone --depth 1 https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink/v2.0 && rm -rf /usr/local/include/mavlink/v2.0/.git
+      run: git clone --depth 1 https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink && rm -rf /usr/local/include/mavlink/.git
     - name: Install ignition Gazebo
       run: apt update && apt install -y ignition-edifice
     - name: Cmake Build

diff --git a/cmake/FindMAVLink.cmake b/cmake/FindMAVLink.cmake
@@ -8,10 +8,19 @@
 # macros
 include(FindPackageHandleStandardArgs)
 
+# Check for ROS_DISTRO
+find_program(ROSVERSION rosversion)
+execute_process(COMMAND ${ROSVERSION} -d
+    OUTPUT_VARIABLE ROS_DISTRO
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+
 set(_MAVLINK_EXTRA_SEARCH_HINTS
     ${CMAKE_SOURCE_DIR}/mavlink/
     ../../mavlink/
     ../mavlink/
+    ${CATKIN_DEVEL_PREFIX}/
+    ${CMAKE_CURRENT_BINARY_DIR}/../mavlink/
     )
 
 set(_MAVLINK_EXTRA_SEARCH_PATHS
@@ -21,16 +30,16 @@ set(_MAVLINK_EXTRA_SEARCH_PATHS
 
 # look for in the hints first
 find_path(_MAVLINK_INCLUDE_DIR
-    NAMES mavlink/v1.0/mavlink_types.h mavlink/v2.0/mavlink_types.h
+    NAMES mavlink_types.h
     PATH_SUFFIXES include
     HINTS ${_MAVLINK_EXTRA_SEARCH_HINTS}
     NO_DEFAULT_PATH
     )
 
 # look for in the hard-coded paths
 find_path(_MAVLINK_INCLUDE_DIR
-    NAMES mavlink/v1.0/mavlink_types.h mavlink/v2.0/mavlink_types.h
-    PATH_SUFFIXES include
+    NAMES mavlink_types.h
+    PATH_SUFFIXES include/mavlink
     PATHS ${_MAVLINK_EXTRA_SEARCH_PATHS}
     NO_CMAKE_PATH
     NO_CMAKE_ENVIRONMENT_PATH
@@ -39,7 +48,7 @@ find_path(_MAVLINK_INCLUDE_DIR
     )
 
 # look specifically for the ROS version if no other was found
-find_path(_MAVLINK_INCLUDE_DIRca
+find_path(_MAVLINK_INCLUDE_DIR
    NAMES mavlink/v1.0/mavlink_types.h mavlink/v2.0/mavlink_types.h
    PATH_SUFFIXES include
    PATHS /opt/ros/${ROS_DISTRO}/

diff --git a/include/gazebo_mavlink_interface.h b/include/gazebo_mavlink_interface.h
@@ -72,7 +72,7 @@
 
 #include <common.h>
 
-#include <mavlink/v2.0/common/mavlink.h>
+#include <common/mavlink.h>
 #include "msgbuffer.h"
 #include "mavlink_interface.h"
 

diff --git a/include/mavlink_interface.h b/include/mavlink_interface.h
@@ -49,7 +49,7 @@
 
 #include <Eigen/Eigen>
 
-#include <mavlink/v2.0/common/mavlink.h>
+#include <common/mavlink.h>
 #include "msgbuffer.h"
 
 static const uint32_t kDefaultMavlinkUdpPort = 14560;

diff --git a/include/msgbuffer.h b/include/msgbuffer.h
@@ -23,7 +23,7 @@
 #pragma once
 
 #include <cassert>
-#include "mavlink/v2.0/common/mavlink.h"
+#include <common/mavlink.h>
 
 /**
  * @brief Message buffer for internal use in libmavconn