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Tools: ros2: remove dds_xrce_profile.xml 

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
This commit is contained in:
Rhys Mainwaring 2024-05-23 16:27:59 +01:00 committed by Andrew Tridgell
parent c71ef23657
commit 296cdc58a3
5 changed files with 3 additions and 26 deletions
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7
Tools/ros2/README.md
View File

@ -191,7 +191,7 @@ socat -d -d pty,raw,echo=0,link=./dev/ttyROS0 pty,raw,echo=0,link=./dev/ttyROS1
```
```bash
ros2 run micro_ros_agent micro_ros_agent serial --baudrate 115200 --dev ./dev/ttyROS0 --refs $(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/dds_xrce_profile.xml
ros2 run micro_ros_agent micro_ros_agent serial --baudrate 115200 --dev ./dev/ttyROS0
```
```bash
@ -209,7 +209,7 @@ ros2 launch ardupilot_sitl virtual_ports.launch.py tty0:=./dev/ttyROS0 tty1:=./d
```
```bash
ros2 launch ardupilot_sitl micro_ros_agent.launch.py transport:=serial refs:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/dds_xrce_profile.xml baudrate:=115200 device:=./dev/ttyROS0
ros2 launch ardupilot_sitl micro_ros_agent.launch.py transport:=serial baudrate:=115200 device:=./dev/ttyROS0
```
```bash
@ -229,7 +229,6 @@ tty0:=./dev/ttyROS0 \
tty1:=./dev/ttyROS1 \
\
transport:=serial \
refs:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/dds_xrce_profile.xml \
baudrate:=115200 \
device:=./dev/ttyROS0 \
\
@ -250,5 +249,5 @@ sitl:=127.0.0.1:5501
UDP version
```
ros2 launch ardupilot_sitl sitl_dds_udp.launch.py transport:=udp4 refs:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/dds_xrce_profile.xml synthetic_clock:=True wipe:=False model:=quad speedup:=1 slave:=0 instance:=0 defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_udp.parm sim_address:=127.0.0.1 master:=tcp:127.0.0.1:5760 sitl:=127.0.0.1:5501
ros2 launch ardupilot_sitl sitl_dds_udp.launch.py transport:=udp4 synthetic_clock:=True wipe:=False model:=quad speedup:=1 slave:=0 instance:=0 defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_udp.parm sim_address:=127.0.0.1 master:=tcp:127.0.0.1:5760 sitl:=127.0.0.1:5501
```

1
Tools/ros2/ardupilot_dds_tests/config/ardupilot_dds.yaml
View File

@ -3,7 +3,6 @@
middleware: dds
serial_baud: 115200
serial_device: ./dev/ttyROS0
refs_file: ./src/ardupilot/libraries/AP_DDS/dds_xrce_profile.xml
/ardupilot:
sim_vehicle_cmd: ./src/ardupilot/Tools/autotest/sim_vehicle.py

14
Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/conftest.py
View File

@ -74,13 +74,6 @@ def micro_ros_agent_serial(device_dir):
LaunchDescriptionSource(mra_ld),
launch_arguments={
"transport": "serial",
"refs": PathJoinSubstitution(
[
FindPackageShare("ardupilot_sitl"),
"config",
"dds_xrce_profile.xml",
]
),
"baudrate": "115200",
"device": str(tty0),
}.items(),
@ -97,13 +90,6 @@ def micro_ros_agent_udp():
LaunchDescriptionSource(mra_ld),
launch_arguments={
"transport": "udp4",
"refs": PathJoinSubstitution(
[
FindPackageShare("ardupilot_sitl"),
"config",
"dds_xrce_profile.xml",
]
),
}.items(),
)
yield ld, mra_actions

1
Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/param_loader_wip.py
View File

@ -24,7 +24,6 @@
# # default params
# self.mra_serial_device = f"./dev/ttyROS0"
# self.mra_serial_baud = 115200
# self.mra_refs_file = "dds_xrce_profile.xml"
#
# self.ap_sim_vehicle_cmd = "sim_vehicle.py"
# self.ap_serial_device = f"./dev/ttyROS1"

6
Tools/ros2/ardupilot_sitl/CMakeLists.txt
View File

@ -81,12 +81,6 @@ install(DIRECTORY
DESTINATION share/${PROJECT_NAME}/
)
# Install DDS profile.
install(FILES
${ARDUPILOT_ROOT}/libraries/AP_DDS/dds_xrce_profile.xml
DESTINATION share/${PROJECT_NAME}/config
)
# Install additional default params.
install(DIRECTORY
config/default_params