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Tools: update ROS 2 README 

- Correct paths to ros2.repos file.
- Improve build and install instructions.
- Add dependency check to build step.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
This commit is contained in:
Rhys Mainwaring 2023-04-22 16:26:16 +01:00 committed by Andrew Tridgell
parent 73b0ce6db8
commit be80cb12ef
1 changed files with 16 additions and 26 deletions
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42
Tools/ros2/README.md
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@ -39,7 +39,7 @@ The ROS 2 tutorials contain more details regarding [ROS 2 workspaces](https://do
```bash
cd ~/ros2_ws/src
wget https://raw.githubusercontent.com/srmainwaring/ardupilot/pr/pr-dds-launch-tests/Tools/ros2/ros2.repos
wget https://raw.githubusercontent.com/ArduPilot/ardupilot/master/Tools/ros2/ros2.repos
vcs import --recursive < ros2.repos
```
@ -50,23 +50,29 @@ cd ~/ros_ws
source /opt/ros/humble/setup.bash
sudo apt update
rosdep update
rosdep install --rosdistro humble --from-paths src
rosdep install --rosdistro ${ROS_DISTRO} --from-paths src
```
#### 4. Build
Check that the [ROS environment](https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#check-environment-variables) is configured correctly:
```bash
ROS_VERSION=2
ROS_PYTHON_VERSION=3
ROS_DISTRO=humble
```
```bash
cd ~/ros_ws
colcon build --packages-select micro_ros_agent
colcon build --packages-select ardupilot_sitl
colcon build --packages-select ardupilot_dds_tests
colcon build --cmake-args -DBUILD_TESTING=ON
```
#### 5. Test
```bash
source ./install/setup.bash
colcon test --pytest-args -s -v --event-handlers console_cohesion+ --packages-select ardupilot_dds_tests
colcon test --packages-select ardupilot_dds_tests
colcon test-result --all --verbose
```
@ -81,13 +87,13 @@ must be built from source and additional compiler flags are needed.
mkdir -p ~/ros_ws/src && cd ~/ros_ws/src
```
#### 2. Get the `ros2.repos` file
#### 2. Get the `ros2_macos.repos` file
The `ros2_macos.repos` includes additional dependencies to build:
```bash
cd ~/ros2_ws/src
wget https://raw.githubusercontent.com/srmainwaring/ardupilot/pr/pr-dds-launch-tests/Tools/ros2/ros2_macos.repos
wget https://raw.githubusercontent.com/ArduPilot/ardupilot/master/Tools/ros2/ros2_macos.repos
vcs import --recursive < ros2_macos.repos
```
@ -95,7 +101,7 @@ vcs import --recursive < ros2_macos.repos
```bash
cd ~/ros_ws
source /<path_to_your_ros_humble_workspace>/install/setup.zsh
source /{path_to_your_ros_distro_workspace}/install/setup.zsh
```
#### 4.1. Build microxrcedds_gen:
@ -118,12 +124,7 @@ colcon build --symlink-install --cmake-args \
-DUAGENT_USE_SYSTEM_LOGGER=OFF \
-DUAGENT_USE_SYSTEM_FASTDDS=ON \
-DUAGENT_USE_SYSTEM_FASTCDR=ON \
--event-handlers=desktop_notification- \
--packages-select \
micro_ros_msgs \
micro_ros_agent \
ardupilot_sitl \
ardupilot_dds_tests
--event-handlers=desktop_notification-
```
#### 5. Test
@ -236,14 +237,3 @@ sim_address:=127.0.0.1 \
master:=tcp:127.0.0.1:5760 \
sitl:=127.0.0.1:5501
```
## References
### Configuring linters and formatters for ROS 2 projects
- [ROS 2 Code style and language versions](https://docs.ros.org/en/humble/The-ROS2-Project/Contributing/Code-Style-Language-Versions.html).
- [Configuring Flake8](https://flake8.pycqa.org/en/latest/user/configuration.html).
- [ament_lint_auto](https://github.com/ament/ament_lint/blob/humble/ament_lint_auto/doc/index.rst).
- [How to configure ament python linters in CMakeLists?](https://answers.ros.org/question/351012/how-to-configure-ament-python-linters-in-cmakelists/).
- [Using black and flake8 in tandem](https://sbarnea.com/lint/black/).