├── .gitignore ├── LICENSE ├── README.md ├── cfs_converter ├── cfs_converter.py ├── cfs_logger.py ├── config.ini ├── convert_list.txt ├── converter.py ├── file_operator.py ├── main_func_name.yaml ├── makefile_creator.py ├── msg_creator.py ├── porting_files │ ├── ardrone_autonomy │ │ └── Navdata.h │ ├── geometry_msgs │ │ ├── Point.h │ │ ├── Pose.h │ │ ├── PoseStamped.h │ │ ├── PoseWithCovariance.h │ │ ├── Quaternion.h │ │ ├── Twist.h │ │ ├── TwistStamped.h │ │ ├── TwistWithCovariance.h │ │ ├── Vector3.h │ │ ├── Wrench.h │ │ └── WrenchStamped.h │ ├── nav_msgs │ │ └── Odometry.h │ ├── sensor_msgs │ │ ├── Image.h │ │ └── JointState.h │ ├── std_msgs │ │ ├── Empty.h │ │ ├── Float64MultiArray.h │ │ ├── Header.h │ │ ├── MultiArrayDimension.h │ │ ├── MultiArrayLayout.h │ │ ├── RosDuration.h │ │ ├── RosTime.h │ │ └── String.h │ └── tf │ │ └── LinearMath │ │ ├── Matrix3x3.h │ │ ├── MinMax.h │ │ ├── QuadWord.h │ │ ├── Quaternion.h │ │ ├── Scalar.h │ │ ├── StampedTransform.h │ │ ├── Transform.h │ │ └── Vector3.h ├── relay_app_creator.py ├── relay_base │ ├── relay_app_base │ │ └── fsw │ │ │ ├── for_build │ │ │ └── Makefile │ │ │ └── src │ │ │ ├── cfs_serializer │ │ │ ├── ardrone_autonomy_navdata_serializer.cpp │ │ │ ├── ardrone_autonomy_navdata_serializer.h │ │ │ ├── geometry_msgs_point_serializer.cpp │ │ │ ├── geometry_msgs_point_serializer.h │ │ │ ├── geometry_msgs_pose_serializer.cpp │ │ │ ├── geometry_msgs_pose_serializer.h │ │ │ ├── geometry_msgs_posestamped_serializer.cpp │ │ │ ├── geometry_msgs_posestamped_serializer.h │ │ │ ├── geometry_msgs_posewithcovariance_serializer.cpp │ │ │ ├── geometry_msgs_posewithcovariance_serializer.h │ │ │ ├── geometry_msgs_quaternion_serializer.cpp │ │ │ ├── geometry_msgs_quaternion_serializer.h │ │ │ ├── geometry_msgs_twist_serializer.cpp │ │ │ ├── geometry_msgs_twist_serializer.h │ │ │ ├── geometry_msgs_twiststamped_serializer.cpp │ │ │ ├── geometry_msgs_twiststamped_serializer.h │ │ │ ├── geometry_msgs_twistwithcovariance_serializer.cpp │ │ │ ├── geometry_msgs_twistwithcovariance_serializer.h │ │ │ ├── geometry_msgs_vector3_serializer.cpp │ │ │ ├── geometry_msgs_vector3_serializer.h │ │ │ ├── geometry_msgs_wrench_serializer.cpp │ │ │ ├── geometry_msgs_wrench_serializer.h │ │ │ ├── geometry_msgs_wrenchstamped_serializer.cpp │ │ │ ├── geometry_msgs_wrenchstamped_serializer.h │ │ │ ├── nav_msgs_odometry_serializer.cpp │ │ │ ├── nav_msgs_odometry_serializer.h │ │ │ ├── sensor_msgs_image_serializer.cpp │ │ │ ├── sensor_msgs_image_serializer.h │ │ │ ├── sensor_msgs_jointstate_serializer.cpp │ │ │ ├── sensor_msgs_jointstate_serializer.h │ │ │ ├── std_msgs_empty_serializer.cpp │ │ │ ├── std_msgs_empty_serializer.h │ │ │ ├── std_msgs_float64multiarray_serializer.cpp │ │ │ ├── std_msgs_float64multiarray_serializer.h │ │ │ ├── std_msgs_header_serializer.cpp │ │ │ ├── std_msgs_header_serializer.h │ │ │ ├── std_msgs_multiarraydimension_serializer.cpp │ │ │ ├── std_msgs_multiarraydimension_serializer.h │ │ │ ├── std_msgs_multiarraylayout_serializer.cpp │ │ │ ├── std_msgs_multiarraylayout_serializer.h │ │ │ ├── std_msgs_rostime_serializer.cpp │ │ │ ├── std_msgs_rostime_serializer.h │ │ │ ├── std_msgs_string_serializer.cpp │ │ │ └── std_msgs_string_serializer.h │ │ │ ├── communication │ │ │ ├── communication.cpp │ │ │ ├── communication.h │ │ │ ├── tcp.c │ │ │ ├── tcp.h │ │ │ ├── udp.c │ │ │ └── udp.h │ │ │ ├── convert │ │ │ ├── publisher.cpp │ │ │ ├── publisher.h │ │ │ ├── subscriber.cpp │ │ │ └── subscriber.h │ │ │ ├── define.cpp │ │ │ ├── define.h │ │ │ ├── relay_app.cpp │ │ │ ├── relay_app.h │ │ │ ├── relay_app_version.h │ │ │ ├── util.cpp │ │ │ └── util.h │ └── relay_node_base │ │ ├── CMakeLists.txt │ │ ├── include │ │ ├── ardrone_autonomy │ │ │ └── Navdata.h │ │ ├── convert │ │ │ ├── publisher.h │ │ │ └── subscriber.h │ │ ├── relay_node │ │ │ ├── communication │ │ │ │ └── communication.h │ │ │ ├── define.h │ │ │ └── util.h │ │ └── ros_serializer │ │ │ ├── ardrone_autonomy_navdata_serializer.h │ │ │ ├── geometry_msgs_point_serializer.h │ │ │ ├── geometry_msgs_pose_serializer.h │ │ │ ├── geometry_msgs_posestamped_serializer.h │ │ │ ├── geometry_msgs_posewithcovariance_serializer.h │ │ │ ├── geometry_msgs_quaternion_serializer.h │ │ │ ├── geometry_msgs_twist_serializer.h │ │ │ ├── geometry_msgs_twiststamped_serializer.h │ │ │ ├── geometry_msgs_twistwithcovariance_serializer.h │ │ │ ├── geometry_msgs_vector3_serializer.h │ │ │ ├── geometry_msgs_wrench_serializer.h │ │ │ ├── geometry_msgs_wrenchstamped_serializer.h │ │ │ ├── nav_msgs_odometry_serializer.h │ │ │ ├── sensor_msgs_image_serializer.h │ │ │ ├── sensor_msgs_jointstate_serializer.h │ │ │ ├── std_msgs_empty_serializer.h │ │ │ ├── std_msgs_float64multiarray_serializer.h │ │ │ ├── std_msgs_header_serializer.h │ │ │ ├── std_msgs_multiarraydimension_serializer.h │ │ │ ├── std_msgs_multiarraylayout_serializer.h │ │ │ ├── std_msgs_rostime_serializer.h │ │ │ └── std_msgs_string_serializer.h │ │ ├── launch │ │ ├── Connection.launch │ │ └── MsgId2Topic.launch │ │ ├── msg │ │ ├── CCSDS_CmdSecHdr.msg │ │ ├── CCSDS_PriHdr.msg │ │ ├── CFE_SB_CmdHdr.msg │ │ └── HK_HkPacket.msg │ │ ├── package.xml │ │ └── src │ │ ├── communication │ │ ├── communication.cpp │ │ ├── tcp.c │ │ └── udp.c │ │ ├── convert │ │ ├── publisher.cpp │ │ └── subscriber.cpp │ │ ├── define.cpp │ │ ├── relay_node.cpp │ │ └── util.cpp ├── relay_convert_utility.py ├── relay_creator.py ├── relay_logger.py ├── relay_node_creator.py ├── relay_setting_reader.py ├── searcher.py ├── start_cfs_converter.sh ├── start_cfs_relay.sh └── topic_manager.py ├── convert_lib ├── CMakeLists.txt └── fsw │ ├── for_build │ └── Makefile │ ├── public_inc │ ├── convert_lib.h │ └── std_msgs │ │ ├── RosDuration.h │ │ └── RosTime.h │ └── src │ ├── convert_lib.cpp │ └── convert_lib_version.h ├── hk_pub ├── CMakeLists.txt ├── include │ └── hk_pub │ │ └── hk_pub.h ├── launch │ └── bringup.launch ├── package.xml └── src │ └── hk_pub.cpp ├── hk_sub ├── CMakeLists.txt ├── include │ └── hk_sub │ │ └── hk_sub.h ├── launch │ └── bringup.launch ├── package.xml └── src │ └── hk_sub.cpp ├── sample_pub ├── CMakeLists.txt ├── include │ └── sample_pub │ │ └── sample_pub.h ├── launch │ └── bringup.launch ├── package.xml └── src │ └── sample_pub.cpp ├── sample_sub ├── CMakeLists.txt ├── include │ └── sample_sub │ │ └── sample_sub.h ├── launch │ └── bringup.launch ├── package.xml └── src │ └── sample_sub.cpp └── tutorial └── ros_cfe_relay ├── type1 └── cfe │ ├── apps │ └── sample_sub_1 │ │ └── fsw │ │ ├── for_build │ │ └── Makefile │ │ └── src │ │ ├── ardrone_autonomy │ │ └── Navdata.h │ │ ├── geometry_msgs │ │ ├── Point.h │ │ ├── Pose.h │ │ ├── PoseStamped.h │ │ ├── PoseWithCovariance.h │ │ ├── Quaternion.h │ │ ├── Twist.h │ │ ├── TwistStamped.h │ │ ├── TwistWithCovariance.h │ │ ├── Vector3.h │ │ ├── Wrench.h │ │ └── WrenchStamped.h │ │ ├── include │ │ └── sample_sub │ │ │ └── sample_sub.h │ │ ├── nav_msgs │ │ └── Odometry.h │ │ ├── sample_sub.cpp │ │ ├── sensor_msgs │ │ ├── Image.h │ │ └── JointState.h │ │ ├── std_msgs │ │ ├── Empty.h │ │ ├── Float64MultiArray.h │ │ ├── Header.h │ │ ├── MultiArrayDimension.h │ │ ├── MultiArrayLayout.h │ │ ├── RosDuration.h │ │ ├── RosTime.h │ │ └── String.h │ │ └── tf │ │ └── LinearMath │ │ ├── Matrix3x3.h │ │ ├── MinMax.h │ │ ├── QuadWord.h │ │ ├── Quaternion.h │ │ ├── Scalar.h │ │ ├── StampedTransform.h │ │ ├── Transform.h │ │ └── Vector3.h │ └── build │ └── cpu1 │ ├── Makefile │ └── exe │ └── cfe_es_startup.scr ├── type2 └── cfe │ ├── apps │ └── sample_pub_1 │ │ └── fsw │ │ ├── for_build │ │ └── Makefile │ │ └── src │ │ ├── ardrone_autonomy │ │ └── Navdata.h │ │ ├── geometry_msgs │ │ ├── Point.h │ │ ├── Pose.h │ │ ├── PoseStamped.h │ │ ├── PoseWithCovariance.h │ │ ├── Quaternion.h │ │ ├── Twist.h │ │ ├── TwistStamped.h │ │ ├── TwistWithCovariance.h │ │ ├── Vector3.h │ │ ├── Wrench.h │ │ └── WrenchStamped.h │ │ ├── include │ │ └── sample_pub │ │ │ └── sample_pub.h │ │ ├── nav_msgs │ │ └── Odometry.h │ │ ├── sample_pub.cpp │ │ ├── sensor_msgs │ │ ├── Image.h │ │ └── JointState.h │ │ ├── std_msgs │ │ ├── Empty.h │ │ ├── Float64MultiArray.h │ │ ├── Header.h │ │ ├── MultiArrayDimension.h │ │ ├── MultiArrayLayout.h │ │ ├── RosDuration.h │ │ ├── RosTime.h │ │ └── String.h │ │ └── tf │ │ └── LinearMath │ │ ├── Matrix3x3.h │ │ ├── MinMax.h │ │ ├── QuadWord.h │ │ ├── Quaternion.h │ │ ├── Scalar.h │ │ ├── StampedTransform.h │ │ ├── Transform.h │ │ └── Vector3.h │ └── build │ └── cpu1 │ ├── Makefile │ └── exe │ └── cfe_es_startup.scr ├── type3 ├── cfe │ ├── apps │ │ ├── sample_sub_1 │ │ │ └── fsw │ │ │ │ ├── for_build │ │ │ │ └── Makefile │ │ │ │ └── src │ │ │ │ ├── ardrone_autonomy │ │ │ │ └── Navdata.h │ │ │ │ ├── geometry_msgs │ │ │ │ ├── Point.h │ │ │ │ ├── Pose.h │ │ │ │ ├── PoseStamped.h │ │ │ │ ├── PoseWithCovariance.h │ │ │ │ ├── Quaternion.h │ │ │ │ ├── Twist.h │ │ │ │ ├── TwistStamped.h │ │ │ │ ├── TwistWithCovariance.h │ │ │ │ ├── Vector3.h │ │ │ │ ├── Wrench.h │ │ │ │ └── WrenchStamped.h │ │ │ │ ├── include │ │ │ │ └── sample_sub │ │ │ │ │ └── sample_sub.h │ │ │ │ ├── nav_msgs │ │ │ │ └── Odometry.h │ │ │ │ ├── sample_sub.cpp │ │ │ │ ├── sensor_msgs │ │ │ │ ├── Image.h │ │ │ │ └── JointState.h │ │ │ │ ├── std_msgs │ │ │ │ ├── Empty.h │ │ │ │ ├── Float64MultiArray.h │ │ │ │ ├── Header.h │ │ │ │ ├── MultiArrayDimension.h │ │ │ │ ├── MultiArrayLayout.h │ │ │ │ ├── RosDuration.h │ │ │ │ ├── RosTime.h │ │ │ │ └── String.h │ │ │ │ └── tf │ │ │ │ └── LinearMath │ │ │ │ ├── Matrix3x3.h │ │ │ │ ├── MinMax.h │ │ │ │ ├── QuadWord.h │ │ │ │ ├── Quaternion.h │ │ │ │ ├── Scalar.h │ │ │ │ ├── StampedTransform.h │ │ │ │ ├── Transform.h │ │ │ │ └── Vector3.h │ │ └── test_sub_1 │ │ │ └── fsw │ │ │ ├── for_build │ │ │ └── Makefile │ │ │ └── src │ │ │ ├── ardrone_autonomy │ │ │ └── Navdata.h │ │ │ ├── geometry_msgs │ │ │ ├── Point.h │ │ │ ├── Pose.h │ │ │ ├── PoseStamped.h │ │ │ ├── PoseWithCovariance.h │ │ │ ├── Quaternion.h │ │ │ ├── Twist.h │ │ │ ├── TwistStamped.h │ │ │ ├── TwistWithCovariance.h │ │ │ ├── Vector3.h │ │ │ ├── Wrench.h │ │ │ └── WrenchStamped.h │ │ │ ├── include │ │ │ └── test_sub │ │ │ │ └── test_sub.h │ │ │ ├── nav_msgs │ │ │ └── Odometry.h │ │ │ ├── sensor_msgs │ │ │ ├── Image.h │ │ │ └── JointState.h │ │ │ ├── std_msgs │ │ │ ├── Empty.h │ │ │ ├── Float64MultiArray.h │ │ │ ├── Header.h │ │ │ ├── MultiArrayDimension.h │ │ │ ├── MultiArrayLayout.h │ │ │ ├── RosDuration.h │ │ │ ├── RosTime.h │ │ │ └── String.h │ │ │ ├── test_sub.cpp │ │ │ └── tf │ │ │ └── LinearMath │ │ │ ├── Matrix3x3.h │ │ │ ├── MinMax.h │ │ │ ├── QuadWord.h │ │ │ ├── Quaternion.h │ │ │ ├── Scalar.h │ │ │ ├── StampedTransform.h │ │ │ ├── Transform.h │ │ │ └── Vector3.h │ └── build │ │ └── cpu1 │ │ ├── Makefile │ │ └── exe │ │ └── cfe_es_startup.scr └── ros │ └── src │ ├── test_pub │ ├── CMakeLists.txt │ ├── include │ │ └── test_pub │ │ │ └── test_pub.h │ ├── launch │ │ └── bringup.launch │ ├── package.xml │ └── src │ │ └── test_pub.cpp │ └── 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