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Tools: ROS2: Add missing dependencies with docs 

* Depend on all messages used in ardupilot_sitl
* Clarify limitations of wrapping with colcon
* Link github issue to support argument passthrough

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman 2024-07-30 19:08:58 -06:00 committed by Peter Barker
parent 0d30dd1981
commit 2937fce42f
3 changed files with 23 additions and 4 deletions
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16
Tools/ros2/README.md
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@ -1,12 +1,12 @@
# ArduPilot ROS 2 packages # ArduPilot ROS 2 packages
This directory contains ROS 2 packages and configuration files for running This directory contains ROS 2 packages and configuration files for running
ROS 2 processes and nodes that communicate with the ArduPilot DDS client ROS 2 processes and nodes that communicate with the ArduPilot DDS client
library using the microROS agent. It contains the following packages: library using the microROS agent. It contains the following packages:
#### `ardupilot_sitl` #### `ardupilot_sitl`
A `colcon` package for building and running ArduPilot SITL using the ROS 2 CLI. This is a `colcon` package for building and running ArduPilot SITL using the ROS 2 CLI.
For example `ardurover` SITL may be launched with: For example `ardurover` SITL may be launched with:
```bash ```bash
@ -21,6 +21,14 @@ For example, MAVProxy can be launched, and you can enable the `console` and `map
ros2 launch ardupilot_sitl sitl_mavproxy.launch.py map:=True console:=True ros2 launch ardupilot_sitl sitl_mavproxy.launch.py map:=True console:=True
``` ```
ArduPilot SITL does not yet expose all arguments from the underlying binary.
See [#27714](https://github.com/ArduPilot/ardupilot/issues/27714) for context.
To see all current options, use the `-s` argument:
```bash
ros2 launch ardupilot_sitl sitl.launch.py -s
```
#### `ardupilot_dds_test` #### `ardupilot_dds_test`
A `colcon` package for testing communication between `micro_ros_agent` and the A `colcon` package for testing communication between `micro_ros_agent` and the

3
Tools/ros2/ardupilot_dds_tests/package.xml
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@ -27,12 +27,15 @@
<test_depend>ament_lint_auto</test_depend> <test_depend>ament_lint_auto</test_depend>
<test_depend>ardupilot_msgs</test_depend> <test_depend>ardupilot_msgs</test_depend>
<test_depend>ardupilot_sitl</test_depend> <test_depend>ardupilot_sitl</test_depend>
<test_depend>builtin_interfaces</test_depend>
<test_depend>launch</test_depend> <test_depend>launch</test_depend>
<test_depend>launch_pytest</test_depend> <test_depend>launch_pytest</test_depend>
<test_depend>launch_ros</test_depend> <test_depend>launch_ros</test_depend>
<exec_depend>micro_ros_msgs</exec_depend> <exec_depend>micro_ros_msgs</exec_depend>
<test_depend>python3-pytest</test_depend> <test_depend>python3-pytest</test_depend>
<test_depend>rclpy</test_depend> <test_depend>rclpy</test_depend>
<test_depend>sensor_msgs</test_depend>
<export> <export>
<build_type>ament_python</build_type> <build_type>ament_python</build_type>

8
Tools/ros2/ardupilot_sitl/package.xml
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@ -11,7 +11,15 @@
<buildtool_depend>ament_cmake</buildtool_depend> <buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>ament_cmake_python</buildtool_depend> <buildtool_depend>ament_cmake_python</buildtool_depend>
<exec_depend>ardupilot_msgs</exec_depend>
<exec_depend>builtin_interfaces</exec_depend>
<exec_depend>geographic_msgs</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>micro_ros_agent</exec_depend> <exec_depend>micro_ros_agent</exec_depend>
<exec_depend>rosgraph_msgs</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>tf2_msgs</exec_depend>
<test_depend>ament_lint_auto</test_depend> <test_depend>ament_lint_auto</test_depend>
<test_depend>ament_cmake_black</test_depend> <test_depend>ament_cmake_black</test_depend>