Robotics

The uncompensated temperature of the BMP180 is incorrectly converted to a 16-bit signed value, instead of a 32-bit signed value (long). Since the data is 16-bits wide and can therefore not be negative, the easy fix would be to do the following:

sip.js(1128): uncompensated = uint16(data[0], data[1]);

Please see page 15 of the manual of the BMP180 chip:
https://ae-bst.resource.bosch.com/media

Is your feature request related to a problem? Please describe.
The current RoomMemberQueryFilter doesn't support query by wxid (id of Contact), can we support this?

Describe the solution you'd like
Add id as a string type in RoomMemberQueryFilter
Describe alternatives you've considered

1. Find all contacts for the room and find out the matched id
2. Load the contact by id fir

We are running out of flash space on some boards so let's remove the older lightware SF40c driver. https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Proximity/AP_Proximity_LightWareSF40C_v09.h

FYI @muramura

DirectCollocation only supports continuous-time systems. (It's not that we haven't implemented it yet,; the notion of the time derivative of a trajectory which is fundamental to the DirectCollocation algorithm doesn't make sense in discrete time). If someone passes in a discrete time system, the intended helpful guard/message [here](https://github.com/RobotLocomotion/drake/blob/b7c0497cb120dd5

Describe the Bug

All the crossroads in village_winter have a different texture compared to the roads, which looks kinda odd. Would be nice to have something more consistent.