gentoo resync : 14.07.2018

5 files changed, 479 insertions, 0 deletions

diff --git a/dev-ros/libmavconn/Manifest b/dev-ros/libmavconn/Manifest
new file mode 100644
index 000000000000..3bf8d4d18fce
--- /dev/null
+++ b/dev-ros/libmavconn/Manifest
@@ -0,0 +1,5 @@
+AUX logging.patch 16008 BLAKE2B ac82381998cfc3b204f745b79cba6128751dd511b0d89d50f5317c82138cd06d51e627706ce533f205a731202e32838a8c7a7b3bb7c85011d6e9c698a4d1f792 SHA512 08e64047cbc613982be4bd34c07916df2e90a96f9f6873969be7dfd265f2d6ce4956669be7c57c38f23314fd4634b5569aec17618d412d0662ae5baf8f590433
+DIST mavros-0.19.0.tar.gz 219739 BLAKE2B 4e9a47fa4cdbf11b530bdc39a8048b1834689039af3005d30ffcc2b626651612db12ecc1929ecaf994c5a887224bcf2b0469d1e15ed5b353be4132fb0f523a96 SHA512 87b1b77505d3606196d609a016bcb89b3831e982f8352a13f69f5c2580f46ac603edb2d3c2ce4df5cdd1424172145b88d2b35d149c2be507eb0f23039e7e45a7
+EBUILD libmavconn-0.19.0-r1.ebuild 471 BLAKE2B 41b2e29199232ef6b987afcb6f98d892d61577b6423443148c40120ede225fe304dd1c397391d806f58f14879f26a101cb460f69e9f613161271964d3134cafb SHA512 cb723c1dc318517da33d1554b663e2bef35df7a3a3dd0ced92dd698baf33a374a1db59ea8566a146a5e09c4689b553312bb1bb28c2ed664ae1097ea6b147fdba
+EBUILD libmavconn-9999.ebuild 431 BLAKE2B a98c07058726ca23ea9c93d4d072b51d94dbe9472f78caccd72b3e857250f18737981a4cfa2fc48c1c1c75db9313a4b129cd66320b9e82ccee04dc28616b905f SHA512 5d0ade0e7b70ff32b9fb2fed6041e2e9610a03deac57205a5e7136bc8ef9f27aa5a98a07e76e5d362784f37b4d5eb98a03184ededbd6dd39bd50f93531ace235
+MISC metadata.xml 328 BLAKE2B d7ed4dde907bc9dd5533e4a54e90939df954d6af2c0fac66156b21309508546a4eccf8ebaef5d70e42a30ec99091f6cadd52b90199e65e05bcf8fe92069d2ab7 SHA512 a4d2ca220b3dea64853e31e188202fdde1e3533d50659e8c5b8593a1067bf88dcd7f6881e8691f91c99d8502e8739ffa13c5bcead139763109ff304736328b2e
diff --git a/dev-ros/libmavconn/files/logging.patch b/dev-ros/libmavconn/files/logging.patch
new file mode 100644
index 000000000000..3396a23c04df
--- /dev/null
+++ b/dev-ros/libmavconn/files/logging.patch
@@ -0,0 +1,420 @@
+Index: libmavconn/src/interface.cpp
+===================================================================
+--- libmavconn.orig/src/interface.cpp
++++ libmavconn/src/interface.cpp
+@@ -133,7 +133,7 @@ void MAVConnInterface::log_recv(const ch
+ 
+ 	const char *proto_version_str = (msg.magic == MAVLINK_STX) ? "v2.0" : "v1.0";
+ 
+-	logDebug("%s%zu: recv: %s %4s Message-Id: %u [%u bytes] IDs: %u.%u Seq: %u",
++	CONSOLE_BRIDGE_logDebug("%s%zu: recv: %s %4s Message-Id: %u [%u bytes] IDs: %u.%u Seq: %u",
+ 			pfx, conn_id,
+ 			proto_version_str,
+ 			framing_str,
+@@ -144,7 +144,7 @@ void MAVConnInterface::log_send(const ch
+ {
+ 	const char *proto_version_str = (msg->magic == MAVLINK_STX) ? "v2.0" : "v1.0";
+ 
+-	logDebug("%s%zu: send: %s Message-Id: %u [%u bytes] IDs: %u.%u Seq: %u",
++	CONSOLE_BRIDGE_logDebug("%s%zu: send: %s Message-Id: %u [%u bytes] IDs: %u.%u Seq: %u",
+ 			pfx, conn_id,
+ 			proto_version_str,
+ 			msg->msgid, msg->len, msg->sysid, msg->compid, msg->seq);
+@@ -152,7 +152,7 @@ void MAVConnInterface::log_send(const ch
+ 
+ void MAVConnInterface::log_send_obj(const char *pfx, const mavlink::Message &msg)
+ {
+-	logDebug("%s%zu: send: %s", pfx, conn_id, msg.to_yaml().c_str());
++	CONSOLE_BRIDGE_logDebug("%s%zu: send: %s", pfx, conn_id, msg.to_yaml().c_str());
+ }
+ 
+ void MAVConnInterface::send_message_ignore_drop(const mavlink::mavlink_message_t *msg)
+@@ -161,7 +161,7 @@ void MAVConnInterface::send_message_igno
+ 		send_message(msg);
+ 	}
+ 	catch (std::length_error &e) {
+-		logError(PFX "%zu: DROPPED Message-Id %u [%u bytes] IDs: %u.%u Seq: %u: %s",
++		CONSOLE_BRIDGE_logError(PFX "%zu: DROPPED Message-Id %u [%u bytes] IDs: %u.%u Seq: %u: %s",
+ 				conn_id,
+ 				msg->msgid, msg->len, msg->sysid, msg->compid, msg->seq,
+ 				e.what());
+@@ -174,7 +174,7 @@ void MAVConnInterface::send_message_igno
+ 		send_message(msg);
+ 	}
+ 	catch (std::length_error &e) {
+-		logError(PFX "%zu: DROPPED Message %s: %s",
++		CONSOLE_BRIDGE_logError(PFX "%zu: DROPPED Message %s: %s",
+ 				conn_id,
+ 				msg.get_name().c_str(),
+ 				e.what());
+@@ -247,14 +247,14 @@ static void url_parse_query(std::string
+ 	auto ids_it = std::search(query.begin(), query.end(),
+ 			ids_end.begin(), ids_end.end());
+ 	if (ids_it == query.end()) {
+-		logWarn(PFX "URL: unknown query arguments");
++		CONSOLE_BRIDGE_logWarn(PFX "URL: unknown query arguments");
+ 		return;
+ 	}
+ 
+ 	std::advance(ids_it, ids_end.length());
+ 	auto comma_it = std::find(ids_it, query.end(), ',');
+ 	if (comma_it == query.end()) {
+-		logError(PFX "URL: no comma in ids= query");
++		CONSOLE_BRIDGE_logError(PFX "URL: no comma in ids= query");
+ 		return;
+ 	}
+ 
+@@ -264,7 +264,7 @@ static void url_parse_query(std::string
+ 	sysid = std::stoi(sys);
+ 	compid = std::stoi(comp);
+ 
+-	logDebug(PFX "URL: found system/component id = [%u, %u]", sysid, compid);
++	CONSOLE_BRIDGE_logDebug(PFX "URL: found system/component id = [%u, %u]", sysid, compid);
+ }
+ 
+ static MAVConnInterface::Ptr url_parse_serial(
+@@ -292,7 +292,7 @@ static MAVConnInterface::Ptr url_parse_u
+ 
+ 	auto sep_it = std::find(hosts.begin(), hosts.end(), '@');
+ 	if (sep_it == hosts.end()) {
+-		logError(PFX "UDP URL should contain @!");
++		CONSOLE_BRIDGE_logError(PFX "UDP URL should contain @!");
+ 		throw DeviceError("url", "UDP separator not found");
+ 	}
+ 
+@@ -360,7 +360,7 @@ MAVConnInterface::Ptr MAVConnInterface::
+ 			proto_end.begin(), proto_end.end());
+ 	if (proto_it == url.end()) {
+ 		// looks like file path
+-		logDebug(PFX "URL: %s: looks like file path", url.c_str());
++		CONSOLE_BRIDGE_logDebug(PFX "URL: %s: looks like file path", url.c_str());
+ 		return url_parse_serial(url, "", system_id, component_id, false);
+ 	}
+ 
+@@ -384,7 +384,7 @@ MAVConnInterface::Ptr MAVConnInterface::
+ 		++query_it;
+ 	query.assign(query_it, url.end());
+ 
+-	logDebug(PFX "URL: %s: proto: %s, host: %s, path: %s, query: %s",
++	CONSOLE_BRIDGE_logDebug(PFX "URL: %s: proto: %s, host: %s, path: %s, query: %s",
+ 			url.c_str(), proto.c_str(), host.c_str(),
+ 			path.c_str(), query.c_str());
+ 
+Index: libmavconn/src/mavlink_helpers.cpp.em
+===================================================================
+--- libmavconn.orig/src/mavlink_helpers.cpp.em
++++ libmavconn/src/mavlink_helpers.cpp.em
+@@ -27,20 +27,20 @@ using mavconn::MAVConnInterface;
+ 
+ void MAVConnInterface::init_msg_entry()
+ {
+-	logDebug("mavconn: Initialize message_entries map");
++	CONSOLE_BRIDGE_logDebug("mavconn: Initialize message_entries map");
+ 
+ 	auto load = [&](const char *dialect, const mavlink::mavlink_msg_entry_t & e) {
+ 		auto it = message_entries.find(e.msgid);
+ 		if (it != message_entries.end()) {
+ 			if (memcmp(&e, it->second, sizeof(e)) != 0) {
+-				logWarn("mavconn: init: message from %s, MSG-ID %d ignored! Table has different entry.", dialect, e.msgid);
++				CONSOLE_BRIDGE_logWarn("mavconn: init: message from %s, MSG-ID %d ignored! Table has different entry.", dialect, e.msgid);
+ 			}
+ 			else {
+-				logDebug("mavconn: init: message from %s, MSG-ID %d in table.", dialect, e.msgid);
++				CONSOLE_BRIDGE_logDebug("mavconn: init: message from %s, MSG-ID %d in table.", dialect, e.msgid);
+ 			}
+ 		}
+ 		else {
+-			logDebug("mavconn: init: add message entry for %s, MSG-ID %d", dialect, e.msgid);
++			CONSOLE_BRIDGE_logDebug("mavconn: init: add message entry for %s, MSG-ID %d", dialect, e.msgid);
+ 			message_entries[e.msgid] = &e;
+ 		}
+ 	};
+Index: libmavconn/src/serial.cpp
+===================================================================
+--- libmavconn.orig/src/serial.cpp
++++ libmavconn/src/serial.cpp
+@@ -43,7 +43,7 @@ MAVConnSerial::MAVConnSerial(uint8_t sys
+ {
+ 	using SPB = boost::asio::serial_port_base;
+ 
+-	logInform(PFXd "device: %s @ %d bps", conn_id, device.c_str(), baudrate);
++	CONSOLE_BRIDGE_logInform(PFXd "device: %s @ %d bps", conn_id, device.c_str(), baudrate);
+ 
+ 	try {
+ 		serial_dev.open(device);
+@@ -95,7 +95,7 @@ void MAVConnSerial::close()
+ void MAVConnSerial::send_bytes(const uint8_t *bytes, size_t length)
+ {
+ 	if (!is_open()) {
+-		logError(PFXd "send: channel closed!", conn_id);
++		CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
+ 		return;
+ 	}
+ 
+@@ -115,7 +115,7 @@ void MAVConnSerial::send_message(const m
+ 	assert(message != nullptr);
+ 
+ 	if (!is_open()) {
+-		logError(PFXd "send: channel closed!", conn_id);
++		CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
+ 		return;
+ 	}
+ 
+@@ -135,7 +135,7 @@ void MAVConnSerial::send_message(const m
+ void MAVConnSerial::send_message(const mavlink::Message &message)
+ {
+ 	if (!is_open()) {
+-		logError(PFXd "send: channel closed!", conn_id);
++		CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
+ 		return;
+ 	}
+ 
+@@ -159,7 +159,7 @@ void MAVConnSerial::do_read(void)
+ 			buffer(rx_buf),
+ 			[sthis] (error_code error, size_t bytes_transferred) {
+ 				if (error) {
+-					logError(PFXd "receive: %s", sthis->conn_id, error.message().c_str());
++					CONSOLE_BRIDGE_logError(PFXd "receive: %s", sthis->conn_id, error.message().c_str());
+ 					sthis->close();
+ 					return;
+ 				}
+@@ -187,7 +187,7 @@ void MAVConnSerial::do_write(bool check_
+ 				assert(bytes_transferred <= buf_ref.len);
+ 
+ 				if (error) {
+-					logError(PFXd "write: %s", sthis->conn_id, error.message().c_str());
++					CONSOLE_BRIDGE_logError(PFXd "write: %s", sthis->conn_id, error.message().c_str());
+ 					sthis->close();
+ 					return;
+ 				}
+Index: libmavconn/src/tcp.cpp
+===================================================================
+--- libmavconn.orig/src/tcp.cpp
++++ libmavconn/src/tcp.cpp
+@@ -46,11 +46,11 @@ static bool resolve_address_tcp(io_servi
+ 				ep = q_ep;
+ 				ep.port(port);
+ 				result = true;
+-				logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
++				CONSOLE_BRIDGE_logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
+ 			});
+ 
+ 	if (ec) {
+-		logWarn(PFXd "resolve error: %s", chan, ec.message().c_str());
++		CONSOLE_BRIDGE_logWarn(PFXd "resolve error: %s", chan, ec.message().c_str());
+ 		result = false;
+ 	}
+ 
+@@ -73,7 +73,7 @@ MAVConnTCPClient::MAVConnTCPClient(uint8
+ 	if (!resolve_address_tcp(io_service, conn_id, server_host, server_port, server_ep))
+ 		throw DeviceError("tcp: resolve", "Bind address resolve failed");
+ 
+-	logInform(PFXd "Server address: %s", conn_id, to_string_ss(server_ep).c_str());
++	CONSOLE_BRIDGE_logInform(PFXd "Server address: %s", conn_id, to_string_ss(server_ep).c_str());
+ 
+ 	try {
+ 		socket.open(tcp::v4());
+@@ -108,7 +108,7 @@ MAVConnTCPClient::MAVConnTCPClient(uint8
+ 
+ void MAVConnTCPClient::client_connected(size_t server_channel)
+ {
+-	logInform(PFXd "Got client, id: %zu, address: %s",
++	CONSOLE_BRIDGE_logInform(PFXd "Got client, id: %zu, address: %s",
+ 			server_channel, conn_id, to_string_ss(server_ep).c_str());
+ 
+ 	// start recv
+@@ -140,7 +140,7 @@ void MAVConnTCPClient::close()
+ void MAVConnTCPClient::send_bytes(const uint8_t *bytes, size_t length)
+ {
+ 	if (!is_open()) {
+-		logError(PFXd "send: channel closed!", conn_id);
++		CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
+ 		return;
+ 	}
+ 
+@@ -160,7 +160,7 @@ void MAVConnTCPClient::send_message(cons
+ 	assert(message != nullptr);
+ 
+ 	if (!is_open()) {
+-		logError(PFXd "send: channel closed!", conn_id);
++		CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
+ 		return;
+ 	}
+ 
+@@ -180,7 +180,7 @@ void MAVConnTCPClient::send_message(cons
+ void MAVConnTCPClient::send_message(const mavlink::Message &message)
+ {
+ 	if (!is_open()) {
+-		logError(PFXd "send: channel closed!", conn_id);
++		CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
+ 		return;
+ 	}
+ 
+@@ -204,7 +204,7 @@ void MAVConnTCPClient::do_recv()
+ 			buffer(rx_buf),
+ 			[sthis] (error_code error, size_t bytes_transferred) {
+ 				if (error) {
+-					logError(PFXd "receive: %s", sthis->conn_id, error.message().c_str());
++					CONSOLE_BRIDGE_logError(PFXd "receive: %s", sthis->conn_id, error.message().c_str());
+ 					sthis->close();
+ 					return;
+ 				}
+@@ -232,7 +232,7 @@ void MAVConnTCPClient::do_send(bool chec
+ 				assert(bytes_transferred <= buf_ref.len);
+ 
+ 				if (error) {
+-					logError(PFXd "send: %s", sthis->conn_id, error.message().c_str());
++					CONSOLE_BRIDGE_logError(PFXd "send: %s", sthis->conn_id, error.message().c_str());
+ 					sthis->close();
+ 					return;
+ 				}
+@@ -269,7 +269,7 @@ MAVConnTCPServer::MAVConnTCPServer(uint8
+ 	if (!resolve_address_tcp(io_service, conn_id, server_host, server_port, bind_ep))
+ 		throw DeviceError("tcp-l: resolve", "Bind address resolve failed");
+ 
+-	logInform(PFXd "Bind address: %s", conn_id, to_string_ss(bind_ep).c_str());
++	CONSOLE_BRIDGE_logInform(PFXd "Bind address: %s", conn_id, to_string_ss(bind_ep).c_str());
+ 
+ 	try {
+ 		acceptor.open(tcp::v4());
+@@ -302,7 +302,7 @@ void MAVConnTCPServer::close()
+ 	if (!is_open())
+ 		return;
+ 
+-	logInform(PFXd "Terminating server. "
++	CONSOLE_BRIDGE_logInform(PFXd "Terminating server. "
+ 			"All connections will be closed.", conn_id);
+ 
+ 	io_service.stop();
+@@ -395,7 +395,7 @@ void MAVConnTCPServer::do_accept()
+ 			acceptor_client->server_ep,
+ 			[sthis, acceptor_client] (error_code error) {
+ 				if (error) {
+-					logError(PFXd "accept: %s", sthis->conn_id, error.message().c_str());
++					CONSOLE_BRIDGE_logError(PFXd "accept: %s", sthis->conn_id, error.message().c_str());
+ 					sthis->close();
+ 					return;
+ 				}
+@@ -416,7 +416,7 @@ void MAVConnTCPServer::client_closed(std
+ {
+ 	if (auto instp = weak_instp.lock()) {
+ 		bool locked = mutex.try_lock();
+-		logInform(PFXd "Client connection closed, id: %p, address: %s",
++		CONSOLE_BRIDGE_logInform(PFXd "Client connection closed, id: %p, address: %s",
+ 				conn_id, instp.get(), to_string_ss(instp->server_ep).c_str());
+ 
+ 		client_list.remove(instp);
+Index: libmavconn/src/udp.cpp
+===================================================================
+--- libmavconn.orig/src/udp.cpp
++++ libmavconn/src/udp.cpp
+@@ -46,11 +46,11 @@ static bool resolve_address_udp(io_servi
+ 				ep = q_ep;
+ 				ep.port(port);
+ 				result = true;
+-				logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
++				CONSOLE_BRIDGE_logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
+ 			});
+ 
+ 	if (ec) {
+-		logWarn(PFXd "resolve error: %s", chan, ec.message().c_str());
++		CONSOLE_BRIDGE_logWarn(PFXd "resolve error: %s", chan, ec.message().c_str());
+ 		result = false;
+ 	}
+ 
+@@ -75,7 +75,7 @@ MAVConnUDP::MAVConnUDP(uint8_t system_id
+ 	if (!resolve_address_udp(io_service, conn_id, bind_host, bind_port, bind_ep))
+ 		throw DeviceError("udp: resolve", "Bind address resolve failed");
+ 
+-	logInform(PFXd "Bind address: %s", conn_id, to_string_ss(bind_ep).c_str());
++	CONSOLE_BRIDGE_logInform(PFXd "Bind address: %s", conn_id, to_string_ss(bind_ep).c_str());
+ 
+ 	if (remote_host != "") {
+ 		if (remote_host != BROADCAST_REMOTE_HOST)
+@@ -86,9 +86,9 @@ MAVConnUDP::MAVConnUDP(uint8_t system_id
+ 		}
+ 
+ 		if (remote_exists)
+-			logInform(PFXd "Remote address: %s", conn_id, to_string_ss(remote_ep).c_str());
++			CONSOLE_BRIDGE_logInform(PFXd "Remote address: %s", conn_id, to_string_ss(remote_ep).c_str());
+ 		else
+-			logWarn(PFXd "Remote address resolve failed.", conn_id);
++			CONSOLE_BRIDGE_logWarn(PFXd "Remote address resolve failed.", conn_id);
+ 	}
+ 
+ 	try {
+@@ -144,12 +144,12 @@ void MAVConnUDP::close()
+ void MAVConnUDP::send_bytes(const uint8_t *bytes, size_t length)
+ {
+ 	if (!is_open()) {
+-		logError(PFXd "send: channel closed!", conn_id);
++		CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
+ 		return;
+ 	}
+ 
+ 	if (!remote_exists) {
+-		logDebug(PFXd "send: Remote not known, message dropped.", conn_id);
++		CONSOLE_BRIDGE_logDebug(PFXd "send: Remote not known, message dropped.", conn_id);
+ 		return;
+ 	}
+ 
+@@ -169,12 +169,12 @@ void MAVConnUDP::send_message(const mavl
+ 	assert(message != nullptr);
+ 
+ 	if (!is_open()) {
+-		logError(PFXd "send: channel closed!", conn_id);
++		CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
+ 		return;
+ 	}
+ 
+ 	if (!remote_exists) {
+-		logDebug(PFXd "send: Remote not known, message dropped.", conn_id);
++		CONSOLE_BRIDGE_logDebug(PFXd "send: Remote not known, message dropped.", conn_id);
+ 		return;
+ 	}
+ 
+@@ -194,12 +194,12 @@ void MAVConnUDP::send_message(const mavl
+ void MAVConnUDP::send_message(const mavlink::Message &message)
+ {
+ 	if (!is_open()) {
+-		logError(PFXd "send: channel closed!", conn_id);
++		CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
+ 		return;
+ 	}
+ 
+ 	if (!remote_exists) {
+-		logDebug(PFXd "send: Remote not known, message dropped.", conn_id);
++		CONSOLE_BRIDGE_logDebug(PFXd "send: Remote not known, message dropped.", conn_id);
+ 		return;
+ 	}
+ 
+@@ -224,13 +224,13 @@ void MAVConnUDP::do_recvfrom()
+ 			remote_ep,
+ 			[sthis] (error_code error, size_t bytes_transferred) {
+ 				if (error) {
+-					logError(PFXd "receive: %s", sthis->conn_id, error.message().c_str());
++					CONSOLE_BRIDGE_logError(PFXd "receive: %s", sthis->conn_id, error.message().c_str());
+ 					sthis->close();
+ 					return;
+ 				}
+ 
+ 				if (sthis->remote_ep != sthis->last_remote_ep) {
+-					logInform(PFXd "Remote address: %s", sthis->conn_id, to_string_ss(sthis->remote_ep).c_str());
++					CONSOLE_BRIDGE_logInform(PFXd "Remote address: %s", sthis->conn_id, to_string_ss(sthis->remote_ep).c_str());
+ 					sthis->remote_exists = true;
+ 					sthis->last_remote_ep = sthis->remote_ep;
+ 				}
+@@ -259,11 +259,11 @@ void MAVConnUDP::do_sendto(bool check_tx
+ 				assert(bytes_transferred <= buf_ref.len);
+ 
+ 				if (error == boost::asio::error::network_unreachable) {
+-					logWarn(PFXd "sendto: %s, retrying", sthis->conn_id, error.message().c_str());
++					CONSOLE_BRIDGE_logWarn(PFXd "sendto: %s, retrying", sthis->conn_id, error.message().c_str());
+ 					// do not return, try to resend
+ 				}
+ 				else if (error) {
+-					logError(PFXd "sendto: %s", sthis->conn_id, error.message().c_str());
++					CONSOLE_BRIDGE_logError(PFXd "sendto: %s", sthis->conn_id, error.message().c_str());
+ 					sthis->close();
+ 					return;
+ 				}
diff --git a/dev-ros/libmavconn/libmavconn-0.19.0-r1.ebuild b/dev-ros/libmavconn/libmavconn-0.19.0-r1.ebuild
new file mode 100644
index 000000000000..dddbbe6be4df
--- /dev/null
+++ b/dev-ros/libmavconn/libmavconn-0.19.0-r1.ebuild
@@ -0,0 +1,22 @@
+# Copyright 1999-2017 Gentoo Foundation
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/mavlink/mavros"
+KEYWORDS="~amd64 ~arm"
+ROS_SUBDIR=${PN}
+
+inherit ros-catkin
+
+DESCRIPTION="MAVLink communication library"
+LICENSE="GPL-3 LGPL-3 BSD"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	>=dev-ros/mavlink-gbp-release-2016.7.7
+	dev-libs/boost:=
+	dev-libs/console_bridge:=
+"
+DEPEND="${RDEPEND}"
+PATCHES=( "${FILESDIR}/logging.patch" )
diff --git a/dev-ros/libmavconn/libmavconn-9999.ebuild b/dev-ros/libmavconn/libmavconn-9999.ebuild
new file mode 100644
index 000000000000..9eb27fcc7ea7
--- /dev/null
+++ b/dev-ros/libmavconn/libmavconn-9999.ebuild
@@ -0,0 +1,21 @@
+# Copyright 1999-2017 Gentoo Foundation
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/mavlink/mavros"
+KEYWORDS="~amd64 ~arm"
+ROS_SUBDIR=${PN}
+
+inherit ros-catkin
+
+DESCRIPTION="MAVLink communication library"
+LICENSE="GPL-3 LGPL-3 BSD"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	>=dev-ros/mavlink-gbp-release-2016.7.7
+	dev-libs/boost:=
+	dev-libs/console_bridge:=
+"
+DEPEND="${RDEPEND}"
diff --git a/dev-ros/libmavconn/metadata.xml b/dev-ros/libmavconn/metadata.xml
new file mode 100644
index 000000000000..769989122d7c
--- /dev/null
+++ b/dev-ros/libmavconn/metadata.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE pkgmetadata SYSTEM "http://www.gentoo.org/dtd/metadata.dtd">
+<pkgmetadata>
+	<maintainer type="project">
+		<email>ros@gentoo.org</email>
+		<name>Gentoo ROS Project</name>
+	</maintainer>
+	<upstream>
+		<remote-id type="github">mavlink/mavros</remote-id>
+	</upstream>
+</pkgmetadata>