Fix CAN node release packaging: Include .uavcan.bin files in organized directories

.github/workflows/build_all_targets.yml

@@ -170,4 +170,6 @@ jobs:
         uses: softprops/action-gh-release@v2
         with:
           draft: true
-          files: artifacts/*.px4
+          files: |
+            artifacts/*.px4
+            artifacts/can_nodes/**/*.uavcan.bin

Tools/ci/package_build_artifacts.sh

@@ -1,8 +1,118 @@
 #!/bin/bash
 
+# Enable globstar for recursive globbing
+shopt -s globstar
+
 mkdir artifacts
-cp **/**/*.px4 artifacts/
-cp **/**/*.elf artifacts/
+
+# First, identify CAN node builds by finding which builds have .uavcan.bin files
+cannode_builds=()
+for uavcan_bin in **/**/*.uavcan.bin; do
+  if [ -f "$uavcan_bin" ]; then
+    build_dir=$(echo "$uavcan_bin" | sed 's|build/\([^/]*\)/.*|\1|')
+    cannode_builds+=("$build_dir")
+  fi
+done
+
+# Copy px4 files for regular flight controllers only (exclude CAN nodes)
+for px4_file in **/**/*.px4; do
+  if [ -f "$px4_file" ]; then
+    build_dir=$(echo "$px4_file" | sed 's|build/\([^/]*\)/.*|\1|')
+    # Check if this build is NOT a CAN node
+    is_cannode=false
+    for cannode in "${cannode_builds[@]}"; do
+      if [ "$build_dir" == "$cannode" ]; then
+        is_cannode=true
+        break
+      fi
+    done
+
+    if [ "$is_cannode" == "false" ]; then
+      cp "$px4_file" artifacts/ 2>/dev/null || true
+    fi
+  fi
+done
+
+# Copy uavcan.bin files for CAN nodes to named folders
+mkdir -p artifacts/can_nodes
+for uavcan_bin in **/**/*.uavcan.bin; do
+  if [ -f "$uavcan_bin" ]; then
+    # Extract build directory name (e.g., "ark_can-flow_default" from "build/ark_can-flow_default/...")
+    build_dir=$(echo "$uavcan_bin" | sed 's|build/\([^/]*\)/.*|\1|')
+
+    # Create subdirectory for this CAN node
+    can_node_dir="artifacts/can_nodes/$build_dir"
+    mkdir -p "$can_node_dir"
+
+    # Copy the uavcan.bin file with original name
+    cp "$uavcan_bin" "$can_node_dir/"
+
+    echo "Packaged CAN node firmware: $uavcan_bin -> $can_node_dir/"
+  fi
+done
+
+# Also check for CAN node binaries in deploy directories
+for deploy_bin in **/deploy/*.bin; do
+  if [ -f "$deploy_bin" ]; then
+    # Extract build directory name from deploy path
+    build_dir=$(echo "$deploy_bin" | sed 's|build/\([^/]*\)/.*|\1|')
+
+    # Create subdirectory for this CAN node
+    can_node_dir="artifacts/can_nodes/$build_dir"
+    mkdir -p "$can_node_dir"
+
+    # Copy the bin file
+    cp "$deploy_bin" "$can_node_dir/"
+
+    echo "Packaged CAN node firmware from deploy: $deploy_bin -> $can_node_dir/"
+  fi
+done
+
+cp **/**/*.elf artifacts/ 2>/dev/null || true
+for build_dir_path in build/*/ ; do
+  build_dir_path=${build_dir_path::${#build_dir_path}-1}
+  build_dir=${build_dir_path#*/}
+  mkdir artifacts/$build_dir
+  find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
+  # Airframe
+  cp $build_dir_path/airframes.xml artifacts/$build_dir/
+  # Parameters
+  cp $build_dir_path/parameters.xml artifacts/$build_dir/
+  cp $build_dir_path/parameters.json artifacts/$build_dir/
+  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/
+  # Actuators
+  cp $build_dir_path/actuators.json artifacts/$build_dir/
+  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/
+  # Events
+  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
+  # ROS 2 msgs
+  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
+  # Module Docs
+  ls -la artifacts/$build_dir
+  echo "----------"
+done
+
+if [ -d artifacts/px4_sitl_default ]; then
+  # general metadata
+  mkdir artifacts/_general/
+  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  # Airframe
+  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  # Parameters
+  cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
+  cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
+  cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
+  # Actuators
+  cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
+  cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
+  # Events
+  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  # ROS 2 msgs
+  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  # Module Docs
+  ls -la artifacts/_general/
+fi
+
 for build_dir_path in build/*/ ; do
   build_dir_path=${build_dir_path::${#build_dir_path}-1}
   build_dir=${build_dir_path#*/}

docs/en/dronecan/px4_cannode_fw.md

@@ -20,6 +20,25 @@ make ark_can-flow_default
 
 This will create an output in **build/ark_can-flow_default** named **XX-X.X.XXXXXXXX.uavcan.bin**. Follow the instructions at [DroneCAN firmware update](index.md#firmware-update) to flash the firmware.
 
+## Firmware Releases
+
+When PX4 creates official releases, CAN node firmware files are packaged separately from regular flight controller firmware:
+
+- **Flight controller firmware**: Available as `.px4` files in the root of the release
+- **CAN node firmware**: Available as `.uavcan.bin` files organized in named subdirectories under `can_nodes/`
+
+For example, in a release you might find:
+```
+├── px4_fmu-v5_default.px4                    (flight controller firmware)
+├── can_nodes/
+│   ├── ark_can-flow_default/
+│   │   └── 1234-1.0.abcd1234.uavcan.bin     (CAN node firmware)
+│   └── ark_can-gps_default/
+│       └── 5678-2.0.efgh5678.uavcan.bin     (CAN node firmware)
+```
+
+Use the `.uavcan.bin` files from the appropriate subdirectory to flash your CAN nodes.
+
 ## Developer Information
 
 This section has information that is relevant to developers who want to add support for new DroneCAN hardware to the PX4 Autopilot.