Remove installation of mavROS and mavlink from source

[amarburg]

Changes Made

Removes the installation of mavros and mavlink from source.

Associated Issues

• Fixes Remove unnecessary modifications to MAVROS and source build #312
• Fixes Replace MAVROS build with binaries #248

Testing

docker buildx bake --no-cache builds.

I'm remote right now, I have not been able to test the software in sim.

[evan-palmer]

I think you should be able to remove the MAVLink clone and modifications too. Vladimir pointed out the more recent version of mavlink-gdp-release, which releases binaries for Jazzy and Rolling, and includes the required version of pymavlink. The ROS Index also lists it as available here.

[evan-palmer]

This will end up closing #248 as well

[amarburg]

Performed a very cursory test this morning. The Docker image contains these Mavros/mavlink packages:

(blue) ubuntu@vespine:~/ws_blue$ apt search mavros
Sorting... Done
Full Text Search... Done
ros-rolling-mavros/now 2.8.0-1noble.20240820.001530 amd64 [installed,local]
  MAVROS -- MAVLink extendable communication node for ROS with proxy for Ground Control Station.

ros-rolling-mavros-extras/now 2.8.0-1noble.20240820.011411 amd64 [installed,local]
  Extra nodes and plugins for MAVROS.

ros-rolling-mavros-msgs/now 2.8.0-1noble.20240729.182340 amd64 [installed,local]
  mavros_msgs defines messages for MAVROS.

ros-rolling-libmavconn/now 2.8.0-1noble.20240625.190352 amd64 [installed,local]
  MAVLink communication library.

ros-rolling-mavlink/now 2024.6.6-1noble.20240625.185253 amd64 [installed,local]
  MAVLink message marshaling library.

Unfortunately, I get the "yaml linkage" error for the Mavros vision_pose and vision_speed plugins:

[mavros_node-2] [ERROR] [1727714966.161554013] [mavros]: Plugin vision_pose load exception: Failed to load library /opt/ros/rolling/lib/libmavros_extras_plugins.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: /opt/ros/rolling/lib/libmavros_extras_plugins.so: undefined symbol: _ZTIN4YAML13BadConversionE, at ./src/shared_library.c:99
[mavros_node-2] [ERROR] [1727714966.163417636] [mavros]: Plugin vision_speed load exception: Failed to load library /opt/ros/rolling/lib/libmavros_extras_plugins.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: /opt/ros/rolling/lib/libmavros_extras_plugins.so: undefined symbol: _ZTIN4YAML13BadConversionE, at ./src/shared_library.c:99

Looks like we need packages for Mavros 2.9 (which contains mavros#1994 ).

[evan-palmer]

I just did some tests and saw the same issue. Here are the binaries that I pulled:

ros-rolling-mavros/now 2.8.0-1noble.20240919.231902 amd64 [installed,local]
  MAVROS -- MAVLink extendable communication node for ROS with proxy for Ground Control Station.

ros-rolling-mavros-extras/now 2.8.0-1noble.20240919.234952 amd64 [installed,local]
  Extra nodes and plugins for MAVROS.

ros-rolling-mavros-msgs/now 2.8.0-1noble.20240919.215846 amd64 [installed,local]
  mavros_msgs defines messages for MAVROS.

It looks like these binaries are older than those just recently released a few days ago. I don't see an updated build for mavros_extras either, which would be here.

Vladimir is pretty responsive. It might be worth just creating an issue and asking him to update the binaries for this

[evan-palmer]

Release 2.9 is out now. I need to do some testing to make sure that the binaries are available for install.

EDIT: Do we need to wait for the next ROS sync for these packages?

[evan-palmer]

mavros and mavros_extras are both on the list for the upcoming rolling sync

[evan-palmer]

The Rolling release of MAVROS was included in this week's Rolling sync. I think that will address this issue and #241

[amarburg]

The Rolling release of MAVROS was included in this week's Rolling sync. I think that will address this issue and #241

I was able to build Rolling and Jazzy images with mavros and mavlink from binary. Have not yet tested.

From before, one of the failure modes --- the yaml linkage error --- only appeared at runtime, so runtime testing is essential.

[evan-palmer]

Thanks for working on this. I'll do some local testing as well to verify things on my end.

[evan-palmer]

I did some testing with this and things seem to be working. I've run into some issues with the localhost TCP connection, but I believe those issues are local.

[amarburg]

#358 doesn't fix this issue, I think the MR is still valid (?)

[mergify]

This pull request is in conflict. Could you fix it @amarburg?

[evan-palmer]

Yep! Let me know when it's ready for review and we can send it through.