Winch and Gripper plugins

[potaito]

Related PRs

• Proto: Winch and Gripper plugins MAVSDK-Proto#308
• MAVSDK: Winch and Gripper plugins MAVSDK#1958
• MAVSDK-Python: Winch and Gripper plugins #545 (this PR)

Description

Adds the winch and gripper plugins also to MAVSDK-Python.

The example scripts are a bit tricky, since there is currently no simulation counterpart against which they can be used. They work in the sense that they send the corresponding commands, but MAVSDK will not receive an ACK if there is no winch or gripper component connected to MAVSDK. I don't know how we want to handle this for example scripts.

TODO

After updating the proto submodule and regenerating the python part, I got quite a lot of changes across the board and I'm not sure what needs to be committed:

 mavsdk/action.py                |   8 +++++
 mavsdk/action_pb2.py            |  14 ++++-----
 mavsdk/follow_me.py             | 142 ++++++++++++++++++++++++++++++++++++++++++++++++--------------------------------------
 mavsdk/follow_me_pb2.py         |  94 +++++++++++++++++++++++++++++----------------------------
 mavsdk/geofence.py              | 275 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++--------------------------------
 mavsdk/geofence_pb2.py          |  71 +++++++++++++++++++++++++++++--------------
 mavsdk/geofence_pb2_grpc.py     |   4 +--
 mavsdk/gimbal.py                |   2 +-
 mavsdk/info.py                  |  92 +++++++++++++++++++++++++++++++++++++++++++++++++++++---
 mavsdk/info_pb2.py              |  19 +++++++-----
 mavsdk/log_files.py             |  46 ----------------------------
 mavsdk/log_files_pb2.py         |  42 ++++++++++----------------
 mavsdk/log_files_pb2_grpc.py    |  34 ---------------------
 mavsdk/mission.py               | 108 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++---
 mavsdk/mission_pb2.py           |  39 +++++++++++++-----------
 mavsdk/mission_raw.py           | 120 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 mavsdk/mission_raw_pb2.py       | 146 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++--------------------------------
 mavsdk/mission_raw_pb2_grpc.py  |  70 +++++++++++++++++++++++++++++++++++++++++++
 mavsdk/offboard.py              |   8 +++++
 mavsdk/offboard_pb2.py          |  10 +++----
 mavsdk/source/plugins/index.rst |   2 ++
 mavsdk/telemetry.py             | 224 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++----
 mavsdk/telemetry_pb2.py         | 460 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++------------------------------------------------------------------------------------------------------------------
 mavsdk/telemetry_pb2_grpc.py    | 130 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++---------
 mavsdk/transponder.py           |  54 ++++++++++++++++++++++++++++++++-
 mavsdk/transponder_pb2.py       |  26 +++++++++-------
 mavsdk/winch.py                 | 452 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 mavsdk/winch_pb2.py             | 138 ++++++++++++++++++++++++++++++++++++++++++++++++++++++------------------------------
 mavsdk/winch_pb2_grpc.py        |  34 +++++++++++++++++++++
 29 files changed, 2205 insertions(+), 659 deletions(-)

I guess all changes need to be committed?

Please don't merge before I squashed the commits :)

[potaito]

I cleaned up the commits and rebased on top of the main branch. The most recent MAVSDK Server version 1.14.12 was released just two weeks ago, but the Proto submodule used in it was not up to date. Currently there is no MAVSDK Server release that contains the gripper and winch additions from Proto.

TODO: Wait for new mavsdk server release and then update MAVSDK_SERVER_VERSION in this PR.

[JonasVautherin]

So this is meant to come with MAVSDK v2, right?

[julianoes]

Yes, it will be part of v2. Sorry for the wait, MAVSDK v2 is just what I do in my spare time.

[JonasVautherin]

Sure, I was just wondering if @potaito was expecting it in 1.4 or not 😅

[julianoes]

I guess this could now go in, now that we have 2.0.

[potaito]

Great, thank you @julianoes :)

[julianoes]

Thank you 😄