From b659f3afd7fb2171fbb383f1914e8a9cff52891d Mon Sep 17 00:00:00 2001
From: Rhys Mainwaring <rhys.mainwaring@me.com>
Date: Wed, 30 Oct 2024 10:25:14 +0000
Subject: [PATCH 1/3] CI: resolve missing includes for cpplint

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
---
 src/ArduPilotPlugin.cc  | 2 ++
 src/CameraZoomPlugin.cc | 2 ++
 src/GstCameraPlugin.cc  | 2 ++
 src/ParachutePlugin.cc  | 2 ++
 src/Util.cc             | 4 ++++
 5 files changed, 12 insertions(+)

diff --git a/src/ArduPilotPlugin.cc b/src/ArduPilotPlugin.cc
index 3ef599bf..a4688e83 100755
--- a/src/ArduPilotPlugin.cc
+++ b/src/ArduPilotPlugin.cc
@@ -22,8 +22,10 @@
 #include <gz/msgs/imu.pb.h>
 #include <gz/msgs/laserscan.pb.h>
 
+#include <algorithm>
 #include <chrono>
 #include <functional>
+#include <memory>
 #include <mutex>
 #include <string>
 #include <sstream>
diff --git a/src/CameraZoomPlugin.cc b/src/CameraZoomPlugin.cc
index e6d1444c..99086de2 100644
--- a/src/CameraZoomPlugin.cc
+++ b/src/CameraZoomPlugin.cc
@@ -21,8 +21,10 @@
 #include <atomic>
 #include <cmath>
 #include <limits>
+#include <memory>
 #include <mutex>
 #include <string>
+#include <vector>
 
 #include <gz/common/Profiler.hh>
 
diff --git a/src/GstCameraPlugin.cc b/src/GstCameraPlugin.cc
index 7c7f9842..c40da1dd 100644
--- a/src/GstCameraPlugin.cc
+++ b/src/GstCameraPlugin.cc
@@ -21,8 +21,10 @@
 #include <gst/gst.h>
 
 #include <iostream>
+#include <memory>
 #include <string>
 #include <thread>
+#include <vector>
 
 #include <gz/plugin/Register.hh>
 #include <gz/rendering/Camera.hh>
diff --git a/src/ParachutePlugin.cc b/src/ParachutePlugin.cc
index 5b283661..1cf4c530 100644
--- a/src/ParachutePlugin.cc
+++ b/src/ParachutePlugin.cc
@@ -19,7 +19,9 @@
 
 #include <gz/msgs/entity_factory.pb.h>
 
+#include <memory>
 #include <string>
+#include <vector>
 
 #include <gz/plugin/Register.hh>
 #include <gz/common/Profiler.hh>
diff --git a/src/Util.cc b/src/Util.cc
index 398a974f..b86a9a65 100644
--- a/src/Util.cc
+++ b/src/Util.cc
@@ -17,6 +17,10 @@
 
 #include "Util.hh"
 
+#include <string>
+#include <unordered_set>
+#include <vector>
+
 #include <gz/sim/components/Joint.hh>
 #include <gz/sim/components/JointVelocity.hh>
 #include <gz/sim/components/Name.hh>

From 76a44874af75018680a6ec02bc4f0644f842f758 Mon Sep 17 00:00:00 2001
From: Rhys Mainwaring <rhys.mainwaring@me.com>
Date: Wed, 30 Oct 2024 10:18:16 +0000
Subject: [PATCH 2/3] ROS: add gstreamer deps to package.xml

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
---
 package.xml | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/package.xml b/package.xml
index b47f6352..5d5e565f 100644
--- a/package.xml
+++ b/package.xml
@@ -11,6 +11,12 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>rapidjson-dev</build_depend>  
+  <build_depend>libopencv-dev</build_depend>  
+  <build_depend>libgstreamer1.0-dev</build_depend>  
+  <build_depend>libgstreamer-plugins-base1.0-dev</build_depend>  
+  <build_depend>gstreamer1.0-plugins-bad</build_depend>  
+  <build_depend>gstreamer1.0-libav</build_depend>  
+  <build_depend>gstreamer1.0-gl</build_depend>  
 
   <!-- Harmonic (default) -->
   <depend condition="$GZ_VERSION == harmonic">gz-cmake3</depend>

From e8e95b6a72bae45a0468f7b307d12cec39322833 Mon Sep 17 00:00:00 2001
From: Rhys Mainwaring <rhys.mainwaring@me.com>
Date: Wed, 30 Oct 2024 18:24:35 +0000
Subject: [PATCH 3/3] Iris: remove inline comments in param file

- Fixes #116

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
---
 config/gazebo-iris-gimbal.parm | 26 +++++++++++++++++---------
 1 file changed, 17 insertions(+), 9 deletions(-)

diff --git a/config/gazebo-iris-gimbal.parm b/config/gazebo-iris-gimbal.parm
index dd36c19d..a66dc70e 100644
--- a/config/gazebo-iris-gimbal.parm
+++ b/config/gazebo-iris-gimbal.parm
@@ -6,8 +6,8 @@ FRAME_TYPE	     1
 MOT_PWM_MIN      1100
 MOT_PWM_MAX      1900
 
-# Gimbal on mount 1 has 3 DOF
-MNT1_TYPE        1           # Servo
+# Servo gimbal on mount 1 has 3 DOF
+MNT1_TYPE        1
 MNT1_PITCH_MAX   45
 MNT1_PITCH_MIN   -135
 MNT1_ROLL_MAX    30
@@ -18,15 +18,23 @@ MNT1_YAW_MIN     -160
 # Gimbal RC in
 RC6_MAX          1900
 RC6_MIN          1100
-RC6_OPTION       212         # Mount1 Roll
+
+# Mount1 Roll
+RC6_OPTION       212
+
+# Mount1 Pitch
 RC7_MAX          1900
 RC7_MIN          1100
-RC7_OPTION       213         # Mount1 Pitch
+RC7_OPTION       213
+
+# Mount1 Yaw
 RC8_MAX          1900
 RC8_MIN          1100
-RC8_OPTION       214         # Mount1 Yaw
+RC8_OPTION       214
 
-# Gimbal servo out
-SERVO9_FUNCTION  8           # Mount1Roll
-SERVO10_FUNCTION 7           # Mount1Pitch
-SERVO11_FUNCTION 6           # Mount1Yaw
+# Mount1Roll
+SERVO9_FUNCTION  8
+# Mount1Pitch
+SERVO10_FUNCTION 7
+# Mount1Yaw
+SERVO11_FUNCTION 6