mirror of https://github.com/ArduPilot/ardupilot
AP_DDS: update readme bash scripts and tutorial order
* Fix install java apt script * Fix text indentation * Add export PATH script for micro-XRCE-DDS-Gen * Comment on the option to change ardupilot parameters through GCS * Fix MicroROS PR 401 hyperlink * Change tutorial order so that the user runs the microROS agent first
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pedro-fuoco
Andrew Tridgell
parent
378bfe238c
commit
3c09a9e8aa
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@ -33,20 +33,25 @@ Currently, serial is the only supported transport, but there are plans to add IP
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While DDS support in Ardupilot is mostly through git submodules, another tool needs to be available on your system: Micro XRCE DDS Gen.
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1. Go to a directory on your system to clone the repo (perhaps next to `ardupilot`)
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1. Install java
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- Go to a directory on your system to clone the repo (perhaps next to `ardupilot`)
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- Install java
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```console
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sudo apt install java
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sudo apt install default-jre
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````
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1. Follow instructions [here](https://micro-xrce-dds.docs.eprosima.com/en/latest/installation.html#installing-the-micro-xrce-dds-gen-tool) to install the generator, but use `develop` branch instead of `master` (for now).
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- Follow instructions [here](https://micro-xrce-dds.docs.eprosima.com/en/latest/installation.html#installing-the-micro-xrce-dds-gen-tool) to install the generator, but use `develop` branch instead of `master` (for now).
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```console
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git clone -b develop --recurse-submodules https://github.com/eProsima/Micro-XRCE-DDS-Gen.git
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cd Micro-XRCE-DDS-Gen
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./gradlew assemble
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```
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1. Add the generator directory to $PATH, like [so](https://github.com/eProsima/Micro-XRCE-DDS-docs/issues/83).
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1. Test it
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- Add the generator directory to $PATH, like [so](https://github.com/eProsima/Micro-XRCE-DDS-docs/issues/83).
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```console
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# Add this to ~/.bashrc
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export PATH=$PATH:/your/path/to/Micro-XRCE-DDS-Gen/scripts
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```
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- Test it
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```console
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cd /path/to/ardupilot
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microxrceddsgen -version
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@ -67,7 +72,7 @@ section, you should remove it and switch to local install.
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| Name | Description |
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| - | - |
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| SERIAL1_BAUD | The serial baud rate for DDS |
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| SERIAL1_BAUD | The serial baud rate for DDS, use 115 |
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| SERIAL1_PROTOCOL | Set this to 45 to use DDS on the serial port |
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@ -100,11 +105,7 @@ param set SERIAL1_BAUD 115
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# See libraries/AP_SerialManager/AP_SerialManager.h AP_SerialManager SerialProtocol_DDS_XRCE
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param set SERIAL1_PROTOCOL 45
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```
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# Start the sim now with the new params
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```
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sim_vehicle.py -v ArduPlane -D --console --enable-dds -A "--uartC=uart:/dev/pts/1"
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```
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Alternatively it is possible to change the parameters on a GCS
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## Starting with microROS Agent
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@ -116,9 +117,9 @@ Follow the steps to use the microROS Agent
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- Install and run the microROS agent (as descibed here). Make sure to use the `humble` branch.
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- https://micro.ros.org/docs/tutorials/core/first_application_linux/
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- https://micro.ros.org/docs/tutorials/core/first_application_linux/
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Until this [PR](https://github.com/micro-ROS/micro-ROS.github.io) is merged, ignore the notes about `foxy`. It works on `humble`.
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Until this [PR](https://github.com/micro-ROS/micro-ROS.github.io/pull/401) is merged, ignore the notes about `foxy`. It works on `humble`.
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Follow the instructions for the following:
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@ -129,7 +130,7 @@ Follow the instructions for the following:
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* Do "Creating the micro-ROS agent"
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* Source your ROS workspace
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- Run microROS agent with the following command
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Run microROS agent with the following command to test the agent
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```bash
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cd ardupilot/libraries/AP_DDS
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@ -140,35 +141,43 @@ ros2 run micro_ros_agent micro_ros_agent serial -b 115200 -D /dev/pts/2 -r dds_
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### Using the ROS2 CLI to Read Ardupilot Data
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If you have installed the microROS agent and ROS-2 Humble
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If you have installed the microROS agent and ROS2 Humble
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- Source the ros2 installation
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- ```source /opt/ros/humble/setup.bash```
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```bash
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source /opt/ros/humble/setup.bash
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```
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- Run the microROS agent
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```bash
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cd ardupilot/libraries/AP_DDS
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ros2 run micro_ros_agent micro_ros_agent serial -b 115200 -D /dev/pts/2 -r dds_xrce_profile.xml # (assuming we are using tty/pts/2 for Ardupilot)
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```
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- Run SITL
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```bash
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sim_vehicle.py -v ArduPlane -D --console --enable-dds -A "--uartC=uart:/dev/pts/1"
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```
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- You should be able to see the agent here and view the data output.
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```bash
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$ ros2 node list
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/Ardupilot_DDS_XRCE_Client
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- If SITL is running alongise MicroROS Agent, you should be able to see the agent here and view the data output.
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$ ros2 topic list -v
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Published topics:
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* /ROS2_Time [builtin_interfaces/msg/Time] 1 publisher
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* /parameter_events [rcl_interfaces/msg/ParameterEvent] 1 publisher
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* /rosout [rcl_interfaces/msg/Log] 1 publisher
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Subscribed topics:
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```
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$ ros2 node list
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/Ardupilot_DDS_XRCE_Client
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$ ros2 topic hz /ROS2_Time
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average rate: 50.115
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min: 0.012s max: 0.024s std dev: 0.00328s window: 52
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$ ros2 topic list -v
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Published topics:
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* /ROS2_Time [builtin_interfaces/msg/Time] 1 publisher
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* /parameter_events [rcl_interfaces/msg/ParameterEvent] 1 publisher
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* /rosout [rcl_interfaces/msg/Log] 1 publisher
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Subscribed topics:
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$ ros2 topic hz /ROS2_Time
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average rate: 50.115
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min: 0.012s max: 0.024s std dev: 0.00328s window: 52
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$ ros2 topic echo /ROS2_Time
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sec: 1678668735
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nanosec: 729410000
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---
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```
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$ ros2 topic echo /ROS2_Time
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sec: 1678668735
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nanosec: 729410000
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---
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```
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## Adding DDS messages to Ardupilot
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