GDExtension.md

Extending GDExtension

ROS2DDS Features

• Topic name can be configured by "Topic Name" property
• Classes for coordinate transform(EUS, ENU, NED) are implemented (see NED2EUS ENU2EUS NED2ENU).

Implemented Publishers / Subscribers

1. PointStamped(Pub/Sub)
2. PoseStamped(Pub/Sub)
3. PointCloud(Pub/Sub)
4. Path(Pub/Sub)
5. Marker(Pub/Sub)
6. Range(Pub)
7. Image(Pub)
8. CompressedImage(Pub)
9. CameraInfo(Pub)

MAVSDK Features

Implemented methods

1. mavsdk
2. system
3. shell
4. param
5. mavlink_passthrouth
6. manual_control
7. action

Serial Features

It's based on

• https://github.com/wjwwood/serial
• https://github.com/matrixant/serial_port

Used for listing up connected com ports

Extending GDExtension

Building GDExtension module requires godot-cpp submodule

git submodule update --init --recursive

Extending mavsdk or ros2 messaging requires source build of each library.

Supported platform & required dependency:

(If you installed ros2 in your system, maybe all dependencies are already satisfied.)

Serial GDextension is based on matrixant, serial.

• Windows

  • https://chocolatey.org/install

      choco install -y python --version 3.8.3
      choco install -y curl

  • OpenSSL 1.1.1u
  • Windows SDK, from Visual Studio 2019

• Linux

  ./extensions/ubuntu_setup.sh # Tested on ubuntu 20.04 / 22.04

Steps for rebuilding shared library.

• Building dependency libraries

  cd extensions
  mkdir -p build 
  cmake ..
  # You can enable/disable build for mavsdk / ros2dds / serial by cmake option ROS2_DDS, MAVSDK, SERIAL
  # If you are using Windows, You may need manually set path for curl.
  # set CURL_INCLUDE_DIRS, CURL_LIBRARIES properly.
  cmake --build . --config Release

• Building GDExtension shared libraries

  cd mavsdk # ros2dds or serial
  scons # target=template_release