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AP_DDS: create entities by binary 

- Add topic name and type to topic table.
- Use binary creation functions for participants and topics.
- Add constant for domain ID.
- Create publishers and datawriters by binary
- Create subscribers, datareaders and services by binary
- Add extra fields to the services table.
- Remove dds_xrce_profile.xml
- Document additional service table fields
- Add QoS struct to topic and service tables
- Replace profile labels with enums.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
This commit is contained in:
Rhys Mainwaring 2024-05-23 14:34:27 +01:00 committed by Andrew Tridgell
parent 3ba16eb933
commit c71ef23657
6 changed files with 209 additions and 423 deletions
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39
libraries/AP_DDS/AP_DDS_Client.cpp
View File

@ -819,8 +819,10 @@ bool AP_DDS_Client::create()
.id = 0x01,
.type = UXR_PARTICIPANT_ID
};
const char* participant_ref = "participant_profile";
const auto participant_req_id = uxr_buffer_create_participant_ref(&session, reliable_out, participant_id,0,participant_ref,UXR_REPLACE);
const char* participant_name = "ardupilot_dds";
const uint16_t domain_id = 0;
const auto participant_req_id = uxr_buffer_create_participant_bin(&session, reliable_out, participant_id,
domain_id, participant_name, UXR_REPLACE);
//Participant requests
constexpr uint8_t nRequestsParticipant = 1;
@ -841,8 +843,8 @@ bool AP_DDS_Client::create()
.id = topics[i].topic_id,
.type = UXR_TOPIC_ID
};
const char* topic_ref = topics[i].topic_profile_label;
const auto topic_req_id = uxr_buffer_create_topic_ref(&session,reliable_out,topic_id,participant_id,topic_ref,UXR_REPLACE);
const auto topic_req_id = uxr_buffer_create_topic_bin(&session, reliable_out, topic_id,
participant_id, topics[i].topic_name, topics[i].type_name, UXR_REPLACE);
// Status requests
constexpr uint8_t nRequests = 3;
@ -850,18 +852,18 @@ bool AP_DDS_Client::create()
constexpr uint16_t requestTimeoutMs = nRequests * maxTimeMsPerRequestMs;
uint8_t status[nRequests];
if (strlen(topics[i].dw_profile_label) > 0) {
if (topics[i].topic_rw == Topic_rw::DataWriter) {
// Publisher
const uxrObjectId pub_id = {
.id = topics[i].pub_id,
.type = UXR_PUBLISHER_ID
};
const char* pub_xml = "";
const auto pub_req_id = uxr_buffer_create_publisher_xml(&session,reliable_out,pub_id,participant_id,pub_xml,UXR_REPLACE);
const auto pub_req_id = uxr_buffer_create_publisher_bin(&session, reliable_out, pub_id,
participant_id, UXR_REPLACE);
// Data Writer
const char* data_writer_ref = topics[i].dw_profile_label;
const auto dwriter_req_id = uxr_buffer_create_datawriter_ref(&session,reliable_out,topics[i].dw_id,pub_id,data_writer_ref,UXR_REPLACE);
const auto dwriter_req_id = uxr_buffer_create_datawriter_bin(&session, reliable_out, topics[i].dw_id,
pub_id, topic_id, topics[i].qos, UXR_REPLACE);
// save the request statuses
requests[0] = topic_req_id;
@ -878,18 +880,18 @@ bool AP_DDS_Client::create()
} else {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Topic/Pub/Writer session pass for index '%u'", msg_prefix, i);
}
} else if (strlen(topics[i].dr_profile_label) > 0) {
} else if (topics[i].topic_rw == Topic_rw::DataReader) {
// Subscriber
const uxrObjectId sub_id = {
.id = topics[i].sub_id,
.type = UXR_SUBSCRIBER_ID
};
const char* sub_xml = "";
const auto sub_req_id = uxr_buffer_create_subscriber_xml(&session,reliable_out,sub_id,participant_id,sub_xml,UXR_REPLACE);
const auto sub_req_id = uxr_buffer_create_subscriber_bin(&session, reliable_out, sub_id,
participant_id, UXR_REPLACE);
// Data Reader
const char* data_reader_ref = topics[i].dr_profile_label;
const auto dreader_req_id = uxr_buffer_create_datareader_ref(&session,reliable_out,topics[i].dr_id,sub_id,data_reader_ref,UXR_REPLACE);
const auto dreader_req_id = uxr_buffer_create_datareader_bin(&session, reliable_out, topics[i].dr_id,
sub_id, topic_id, topics[i].qos, UXR_REPLACE);
// save the request statuses
requests[0] = topic_req_id;
@ -916,13 +918,14 @@ bool AP_DDS_Client::create()
constexpr uint16_t requestTimeoutMs = maxTimeMsPerRequestMs;
if (strlen(services[i].rep_profile_label) > 0) {
if (services[i].service_rr == Service_rr::Replier) {
const uxrObjectId rep_id = {
.id = services[i].rep_id,
.type = UXR_REPLIER_ID
};
const char* replier_ref = services[i].rep_profile_label;
const auto replier_req_id = uxr_buffer_create_replier_ref(&session, reliable_out, rep_id, participant_id, replier_ref, UXR_REPLACE);
const auto replier_req_id = uxr_buffer_create_replier_bin(&session, reliable_out, rep_id,
participant_id, services[i].service_name, services[i].request_type, services[i].reply_type,
services[i].request_topic_name, services[i].reply_topic_name, services[i].qos, UXR_REPLACE);
uint16_t request = replier_req_id;
uint8_t status;
@ -937,7 +940,7 @@ bool AP_DDS_Client::create()
uxr_buffer_request_data(&session, reliable_out, rep_id, reliable_in, &delivery_control);
}
} else if (strlen(services[i].req_profile_label) > 0) {
} else if (services[i].service_rr == Service_rr::Requester) {
// TODO : Add Similar Code for Requester Profile
}
}

42
libraries/AP_DDS/AP_DDS_Client.h
View File

@ -213,6 +213,12 @@ public:
//! @brief Parameter storage
static const struct AP_Param::GroupInfo var_info[];
//! @brief Enum used to mark a topic as a data reader or writer
enum class Topic_rw : uint8_t {
DataReader = 0,
DataWriter = 1,
};
//! @brief Convenience grouping for a single "channel" of data
struct Topic_table {
const uint8_t topic_id;
@ -220,12 +226,19 @@ public:
const uint8_t sub_id; // added sub_id fields to avoid confusion
const uxrObjectId dw_id;
const uxrObjectId dr_id; // added dr_id fields to avoid confusion
const char* topic_profile_label;
const char* dw_profile_label;
const char* dr_profile_label;
const Topic_rw topic_rw;
const char* topic_name;
const char* type_name;
const uxrQoS_t qos;
};
static const struct Topic_table topics[];
//! @brief Enum used to mark a service as a requester or replier
enum class Service_rr : uint8_t {
Requester = 0,
Replier = 1,
};
//! @brief Convenience grouping for a single "channel" of services
struct Service_table {
//! @brief Request ID for the service
@ -234,11 +247,26 @@ public:
//! @brief Reply ID for the service
const uint8_t rep_id;
//! @brief Profile Label for the service requester
const char* req_profile_label;
//! @brief Service is requester or replier
const Service_rr service_rr;
//! @brief Profile Label for the service replier
const char* rep_profile_label;
//! @brief Service name as it appears in ROS
const char* service_name;
//! @brief Service requester message type
const char* request_type;
//! @brief Service replier message type
const char* reply_type;
//! @brief Service requester topic name
const char* request_topic_name;
//! @brief Service replier topic name
const char* reply_topic_name;
//! @brief QoS for the service
const uxrQoS_t qos;
};
static const struct Service_table services[];
};

22
libraries/AP_DDS/AP_DDS_Service_Table.h
View File

@ -15,13 +15,27 @@ constexpr struct AP_DDS_Client::Service_table AP_DDS_Client::services[] = {
{
.req_id = to_underlying(ServiceIndex::ARMING_MOTORS),
.rep_id = to_underlying(ServiceIndex::ARMING_MOTORS),
.req_profile_label = "",
.rep_profile_label = "arm_motors__replier",
.service_rr = Service_rr::Replier,
.service_name = "rs/ap/arm_motorsService",
.request_type = "ardupilot_msgs::srv::dds_::ArmMotors_Request_",
.reply_type = "ardupilot_msgs::srv::dds_::ArmMotors_Response_",
.request_topic_name = "rq/ap/arm_motorsRequest",
.reply_topic_name = "rr/ap/arm_motorsReply",
.qos = {
.durability = UXR_DURABILITY_TRANSIENT_LOCAL,
.reliability = UXR_RELIABILITY_RELIABLE,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
{
.req_id = to_underlying(ServiceIndex::MODE_SWITCH),
.rep_id = to_underlying(ServiceIndex::MODE_SWITCH),
.req_profile_label = "",
.rep_profile_label = "mode_switch__replier",
.service_rr = Service_rr::Replier,
.service_name = "rs/ap/mode_switchService",
.request_type = "ardupilot_msgs::srv::dds_::ModeSwitch_Request_",
.reply_type = "ardupilot_msgs::srv::dds_::ModeSwitch_Response_",
.request_topic_name = "rq/ap/mode_switchRequest",
.reply_topic_name = "rr/ap/mode_switchReply",
},
};

168
libraries/AP_DDS/AP_DDS_Topic_Table.h
View File

@ -42,9 +42,15 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.sub_id = to_underlying(TopicIndex::TIME_PUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::TIME_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::TIME_PUB), .type=UXR_DATAREADER_ID},
.topic_profile_label = "time__t",
.dw_profile_label = "time__dw",
.dr_profile_label = "",
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/time",
.type_name = "builtin_interfaces::msg::dds_::Time_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_RELIABLE,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 20,
},
},
{
.topic_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB),
@ -52,9 +58,15 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.sub_id = to_underlying(TopicIndex::NAV_SAT_FIX_PUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::NAV_SAT_FIX_PUB), .type=UXR_DATAREADER_ID},
.topic_profile_label = "navsatfix0__t",
.dw_profile_label = "navsatfix0__dw",
.dr_profile_label = "",
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/navsat/navsat0",
.type_name = "tf2_msgs::msg::dds_::TFMessage_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
{
.topic_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB),
@ -62,9 +74,15 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.sub_id = to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::STATIC_TRANSFORMS_PUB), .type=UXR_DATAREADER_ID},
.topic_profile_label = "statictransforms__t",
.dw_profile_label = "statictransforms__dw",
.dr_profile_label = "",
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/tf_static",
.type_name = "tf2_msgs::msg::dds_::TFMessage_",
.qos = {
.durability = UXR_DURABILITY_TRANSIENT_LOCAL,
.reliability = UXR_RELIABILITY_RELIABLE,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 1,
},
},
{
.topic_id = to_underlying(TopicIndex::BATTERY_STATE_PUB),
@ -72,9 +90,15 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.sub_id = to_underlying(TopicIndex::BATTERY_STATE_PUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::BATTERY_STATE_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::BATTERY_STATE_PUB), .type=UXR_DATAREADER_ID},
.topic_profile_label = "batterystate0__t",
.dw_profile_label = "batterystate0__dw",
.dr_profile_label = "",
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/battery/battery0",
.type_name = "sensor_msgs::msg::dds_::BatteryState_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
{
.topic_id = to_underlying(TopicIndex::IMU_PUB),
@ -82,9 +106,15 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.sub_id = to_underlying(TopicIndex::IMU_PUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::IMU_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::IMU_PUB), .type=UXR_DATAREADER_ID},
.topic_profile_label = "imu__t",
.dw_profile_label = "imu__dw",
.dr_profile_label = "",
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/imu/experimental/data",
.type_name = "sensor_msgs::msg::dds_::Imu_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
{
.topic_id = to_underlying(TopicIndex::LOCAL_POSE_PUB),
@ -92,9 +122,15 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.sub_id = to_underlying(TopicIndex::LOCAL_POSE_PUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_POSE_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_POSE_PUB), .type=UXR_DATAREADER_ID},
.topic_profile_label = "localpose__t",
.dw_profile_label = "localpose__dw",
.dr_profile_label = "",
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/pose/filtered",
.type_name = "geometry_msgs::msg::dds_::PoseStamped_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
{
.topic_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB),
@ -102,9 +138,15 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.sub_id = to_underlying(TopicIndex::LOCAL_VELOCITY_PUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_VELOCITY_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::LOCAL_VELOCITY_PUB), .type=UXR_DATAREADER_ID},
.topic_profile_label = "localvelocity__t",
.dw_profile_label = "localvelocity__dw",
.dr_profile_label = "",
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/twist/filtered",
.type_name = "geometry_msgs::msg::dds_::TwistStamped_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
{
.topic_id = to_underlying(TopicIndex::GEOPOSE_PUB),
@ -112,9 +154,15 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.sub_id = to_underlying(TopicIndex::GEOPOSE_PUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::GEOPOSE_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::GEOPOSE_PUB), .type=UXR_DATAREADER_ID},
.topic_profile_label = "geopose__t",
.dw_profile_label = "geopose__dw",
.dr_profile_label = "",
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/geopose/filtered",
.type_name = "geographic_msgs::msg::dds_::GeoPoseStamped_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
{
.topic_id = to_underlying(TopicIndex::CLOCK_PUB),
@ -122,9 +170,15 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.sub_id = to_underlying(TopicIndex::CLOCK_PUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::CLOCK_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::CLOCK_PUB), .type=UXR_DATAREADER_ID},
.topic_profile_label = "clock__t",
.dw_profile_label = "clock__dw",
.dr_profile_label = "",
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/clock",
.type_name = "rosgraph_msgs::msg::dds_::Clock_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_RELIABLE,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 20,
},
},
{
.topic_id = to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB),
@ -132,9 +186,15 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.sub_id = to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB), .type=UXR_DATAREADER_ID},
.topic_profile_label = "gps_global_origin__t",
.dw_profile_label = "gps_global_origin__dw",
.dr_profile_label = "",
.topic_rw = Topic_rw::DataWriter,
.topic_name = "rt/ap/gps_global_origin/filtered",
.type_name = "geographic_msgs::msg::dds_::GeoPointStamped_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_BEST_EFFORT,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
{
.topic_id = to_underlying(TopicIndex::JOY_SUB),
@ -142,9 +202,15 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.sub_id = to_underlying(TopicIndex::JOY_SUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::JOY_SUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::JOY_SUB), .type=UXR_DATAREADER_ID},
.topic_profile_label = "joy__t",
.dw_profile_label = "",
.dr_profile_label = "joy__dr",
.topic_rw = Topic_rw::DataReader,
.topic_name = "rt/ap/joy",
.type_name = "sensor_msgs::msg::dds_::Joy_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_RELIABLE,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
{
.topic_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB),
@ -152,9 +218,15 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.sub_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB), .type=UXR_DATAREADER_ID},
.topic_profile_label = "dynamictf__t",
.dw_profile_label = "",
.dr_profile_label = "dynamictf__dr",
.topic_rw = Topic_rw::DataReader,
.topic_name = "rt/ap/tf",
.type_name = "tf2_msgs::msg::dds_::TFMessage_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_RELIABLE,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
{
.topic_id = to_underlying(TopicIndex::VELOCITY_CONTROL_SUB),
@ -162,9 +234,15 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.sub_id = to_underlying(TopicIndex::VELOCITY_CONTROL_SUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::VELOCITY_CONTROL_SUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::VELOCITY_CONTROL_SUB), .type=UXR_DATAREADER_ID},
.topic_profile_label = "velocitycontrol__t",
.dw_profile_label = "",
.dr_profile_label = "velocitycontrol__dr",
.topic_rw = Topic_rw::DataReader,
.topic_name = "rt/ap/cmd_vel",
.type_name = "geometry_msgs::msg::dds_::TwistStamped_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_RELIABLE,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
{
.topic_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB),
@ -172,8 +250,14 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
.sub_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB),
.dw_id = uxrObjectId{.id=to_underlying(TopicIndex::GLOBAL_POSITION_SUB), .type=UXR_DATAWRITER_ID},
.dr_id = uxrObjectId{.id=to_underlying(TopicIndex::GLOBAL_POSITION_SUB), .type=UXR_DATAREADER_ID},
.topic_profile_label = "globalposcontrol__t",
.dw_profile_label = "",
.dr_profile_label = "globalposcontrol__dr",
.topic_rw = Topic_rw::DataReader,
.topic_name = "rt/ap/cmd_gps_pose",
.type_name = "ardupilot_msgs::msg::dds_::GlobalPosition_",
.qos = {
.durability = UXR_DURABILITY_VOLATILE,
.reliability = UXR_RELIABILITY_RELIABLE,
.history = UXR_HISTORY_KEEP_LAST,
.depth = 5,
},
},
};

16
libraries/AP_DDS/README.md
View File

@ -164,7 +164,7 @@ Next, follow the associated section for your chosen transport, and finally you c
- Run the microROS agent
```console
cd ardupilot/libraries/AP_DDS
ros2 run micro_ros_agent micro_ros_agent udp4 -p 2019 -r dds_xrce_profile.xml
ros2 run micro_ros_agent micro_ros_agent udp4 -p 2019
```
- Run SITL (remember to kill any terminals running ardupilot SITL beforehand)
```console
@ -184,7 +184,7 @@ Next, follow the associated section for your chosen transport, and finally you c
```console
cd ardupilot/libraries/AP_DDS
# assuming we are using tty/pts/2 for DDS Application
ros2 run micro_ros_agent micro_ros_agent serial -b 115200 -r dds_xrce_profile.xml -D /dev/pts/2
ros2 run micro_ros_agent micro_ros_agent serial -b 115200 -D /dev/pts/2
```
- Run SITL (remember to kill any terminals running ardupilot SITL beforehand)
```console
@ -318,11 +318,11 @@ If the message is custom for ardupilot, first create the ROS message in `Tools/r
Then, build ardupilot_msgs with colcon.
Finally, copy the IDL folder from the install directory into the source tree.
### Rules for adding topics and services to `dds_xrce_profile.xml`
### Rules for adding topics and services
Topics and services available from `AP_DDS` are automatically mapped into ROS 2
provided a few rules are followed when defining the entries in
`dds_xrce_profile.xml`.
provided a few rules are followed when defining the entries in the
topic and service tables.
#### ROS 2 message and service interface types
@ -363,7 +363,9 @@ The table below provides example mappings for topics and services
| ap/navsat/navsat0 | rt/ap/navsat/navsat0 |
| ap/arm_motors | rq/ap/arm_motorsRequest, rr/ap/arm_motorsReply |
Refer to existing mappings in [`dds_xrce_profile.xml`](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_DDS/dds_xrce_profile.xml) for additional details.
Refer to existing mappings in [`AP_DDS_Topic_Table`](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_DDS/AP_DDS_Topic_Table.h)
and [`AP_DDS_Service_Table`](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_DDS/AP_DDS_Service_Table.h)
for additional details.
### Development Requirements
@ -412,7 +414,7 @@ Then run the Micro ROS agent
cd /path/to/ros2_ws
source install/setup.bash
cd src/ardupilot/libraries/AP_DDS
ros2 run micro_ros_agent micro_ros_agent serial -b 115200 -r dds_xrce_profile.xml -D /dev/serial/by-id/usb-ArduPilot_Pixhawk6X_210028000151323131373139-if02
ros2 run micro_ros_agent micro_ros_agent serial -b 115200 -D /dev/serial/by-id/usb-ArduPilot_Pixhawk6X_210028000151323131373139-if02
```
If connection fails, instead of running the Micro ROS agent, debug the stream

345
libraries/AP_DDS/dds_xrce_profile.xml
View File

@ -1,345 +0,0 @@
<?xml version="1.0"?>
<profiles>
<participant profile_name="participant_profile">
<rtps>
<name>ardupilot_dds</name>
</rtps>
</participant>
<topic profile_name="time__t">
<name>rt/ap/time</name>
<dataType>builtin_interfaces::msg::dds_::Time_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>20</depth>
</historyQos>
</topic>
<data_writer profile_name="time__dw">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<reliability>
<kind>RELIABLE</kind>
</reliability>
</qos>
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/time</name>
<dataType>builtin_interfaces::msg::dds_::Time_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>20</depth>
</historyQos>
</topic>
</data_writer>
<topic profile_name="navsatfix0__t">
<name>rt/ap/navsat/navsat0</name>
<dataType>sensor_msgs::msg::dds_::NavSatFix_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
<data_writer profile_name="navsatfix0__dw">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<reliability>
<kind>BEST_EFFORT</kind>
</reliability>
<durability>
<kind>VOLATILE</kind>
</durability>
</qos>
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/navsat/navsat0</name>
<dataType>sensor_msgs::msg::dds_::NavSatFix_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
</data_writer>
<topic profile_name="statictransforms__t">
<name>rt/ap/tf_static</name>
<dataType>tf2_msgs::msg::dds_::TFMessage_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>1</depth>
</historyQos>
</topic>
<data_writer profile_name="statictransforms__dw">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<reliability>
<kind>RELIABLE</kind>
</reliability>
<durability>
<kind>TRANSIENT_LOCAL</kind>
</durability>
</qos>
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/tf_static</name>
<dataType>tf2_msgs::msg::dds_::TFMessage_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>1</depth>
</historyQos>
</topic>
</data_writer>
<topic profile_name="batterystate0__t">
<name>rt/ap/battery/battery0</name>
<dataType>sensor_msgs::msg::dds_::BatteryState_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
<data_writer profile_name="batterystate0__dw">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<reliability>
<kind>BEST_EFFORT</kind>
</reliability>
<durability>
<kind>VOLATILE</kind>
</durability>
</qos>
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/battery/battery0</name>
<dataType>sensor_msgs::msg::dds_::BatteryState_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
</data_writer>
<topic profile_name="imu__t">
<name>rt/ap/imu/experimental/data</name>
<dataType>sensor_msgs::msg::dds_::Imu_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>20</depth>
</historyQos>
</topic>
<data_writer profile_name="imu__dw">
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/imu/experimental/data</name>
<dataType>sensor_msgs::msg::dds_::Imu_</dataType>
</topic>
<qos>
<reliability>
<kind>RELIABLE</kind>
</reliability>
<durability>
<kind>TRANSIENT_LOCAL</kind>
</durability>
</qos>
</data_writer>
<topic profile_name="localpose__t">
<name>rt/ap/pose/filtered</name>
<dataType>geometry_msgs::msg::dds_::PoseStamped_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
<data_writer profile_name="localpose__dw">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<reliability>
<kind>BEST_EFFORT</kind>
</reliability>
<durability>
<kind>VOLATILE</kind>
</durability>
</qos>
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/pose/filtered</name>
<dataType>geometry_msgs::msg::dds_::PoseStamped_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
</data_writer>
<topic profile_name="localvelocity__t">
<name>rt/ap/twist/filtered</name>
<dataType>geometry_msgs::msg::dds_::TwistStamped_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
<data_writer profile_name="localvelocity__dw">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<reliability>
<kind>BEST_EFFORT</kind>
</reliability>
<durability>
<kind>VOLATILE</kind>
</durability>
</qos>
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/twist/filtered</name>
<dataType>geometry_msgs::msg::dds_::TwistStamped_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
</data_writer>
<topic profile_name="geopose__t">
<name>rt/ap/geopose/filtered</name>
<dataType>geographic_msgs::msg::dds_::GeoPoseStamped_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
<data_writer profile_name="geopose__dw">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<reliability>
<kind>BEST_EFFORT</kind>
</reliability>
<durability>
<kind>VOLATILE</kind>
</durability>
</qos>
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/geopose/filtered</name>
<dataType>geographic_msgs::msg::dds_::GeoPoseStamped_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
</data_writer>
<topic profile_name="clock__t">
<name>rt/ap/clock</name>
<dataType>rosgraph_msgs::msg::dds_::Clock_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>20</depth>
</historyQos>
</topic>
<data_writer profile_name="clock__dw">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<reliability>
<kind>RELIABLE</kind>
</reliability>
</qos>
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/clock</name>
<dataType>rosgraph_msgs::msg::dds_::Clock_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>20</depth>
</historyQos>
</topic>
</data_writer>
<topic profile_name="gps_global_origin__t">
<name>rt/ap/gps_global_origin/filtered</name>
<dataType>geographic_msgs::msg::dds_::GeoPointStamped_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
<data_writer profile_name="gps_global_origin__dw">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<reliability>
<kind>BEST_EFFORT</kind>
</reliability>
<durability>
<kind>VOLATILE</kind>
</durability>
</qos>
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/gps_global_origin/filtered</name>
<dataType>geographic_msgs::msg::dds_::GeoPointStamped_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
</data_writer>
<topic profile_name="joy__t">
<name>rt/ap/joy</name>
<dataType>sensor_msgs::msg::dds_::Joy_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
<data_reader profile_name="joy__dr">
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/joy</name>
<dataType>sensor_msgs::msg::dds_::Joy_</dataType>
</topic>
</data_reader>
<topic profile_name="dynamictf__t">
<name>rt/ap/tf</name>
<dataType>tf2_msgs::msg::dds_::TFMessage_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
<data_reader profile_name="dynamictf__dr">
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/tf</name>
<dataType>tf2_msgs::msg::dds_::TFMessage_</dataType>
</topic>
</data_reader>
<topic profile_name="velocitycontrol__t">
<name>rt/ap/cmd_vel</name>
<dataType>geometry_msgs::msg::dds_::TwistStamped_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
<data_reader profile_name="velocitycontrol__dr">
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/cmd_vel</name>
<dataType>geometry_msgs::msg::dds_::TwistStamped_</dataType>
</topic>
</data_reader>
<replier profile_name="arm_motors__replier" service_name="rs/ap/arm_motorsService" request_type="ardupilot_msgs::srv::dds_::ArmMotors_Request_" reply_type="ardupilot_msgs::srv::dds_::ArmMotors_Response_">
<request_topic_name>rq/ap/arm_motorsRequest</request_topic_name>
<reply_topic_name>rr/ap/arm_motorsReply</reply_topic_name>
</replier>
<replier profile_name="mode_switch__replier" service_name="rs/ap/mode_switchService" request_type="ardupilot_msgs::srv::dds_::ModeSwitch_Request_" reply_type="ardupilot_msgs::srv::dds_::ModeSwitch_Response_">
<request_topic_name>rq/ap/mode_switchRequest</request_topic_name>
<reply_topic_name>rr/ap/mode_switchReply</reply_topic_name>
</replier>
<topic profile_name="globalposcontrol__t">
<name>rt/ap/cmd_gps_pose</name>
<dataType>ardupilot_msgs::msg::dds_::GlobalPosition_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
<data_reader profile_name="globalposcontrol__dr">
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/cmd_gps_pose</name>
<dataType>ardupilot_msgs::msg::dds_::GlobalPosition_</dataType>
</topic>
</data_reader>
</profiles>