mirror of https://github.com/ArduPilot/ardupilot
AP_DDS: update readme headers overhaul
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pedro-fuoco
Andrew Tridgell
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dfdd7cde1b
commit
cb628e6875
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@ -68,34 +68,24 @@ For now, avoid having simultaneous local and global installs.
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If you followed the [global install](https://fast-dds.docs.eprosima.com/en/latest/installation/sources/sources_linux.html#global-installation)
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section, you should remove it and switch to local install.
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## Parameters for DDS
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## Setup serial for SITL with DDS
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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_PROTOCOL | Set this to 45 to use DDS on the serial port |
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## Testing with a UART
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On Linux, first create a virtual serial port for use with SITL like [this](https://stackoverflow.com/questions/52187/virtual-serial-port-for-linux)
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On Linux, creating a virtual serial port will be necessary to use serial in SITL, because of that install socat.
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```
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sudo apt-get update
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sudo apt-get install socat
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```
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Then, start a virtual serial port with socat. Take note of the two `/dev/pts/*` ports. If yours are different, substitute as needed.
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```
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socat -d -d pty,raw,echo=0 pty,raw,echo=0
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>>> 2023/02/21 05:26:06 socat[334] N PTY is /dev/pts/1
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>>> 2023/02/21 05:26:06 socat[334] N PTY is /dev/pts/2
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>>> 2023/02/21 05:26:06 socat[334] N starting data transfer loop with FDs [5,5] and [7,7]
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```
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## Setup ardupilot for SITL with DDS
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Set up your [SITL](https://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html).
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Run the simulator with the following command (assuming we are using /dev/pts/1 for Ardupilot SITL). Take note how two parameters need adjusting from default to use DDS.
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```
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Run the simulator with the following command. Take note how two parameters need adjusting from default to use DDS.
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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_PROTOCOL | Set this to 45 to use DDS on the serial port |
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```bash
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# Wipe params till you see "AP: ArduPilot Ready"
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# Select your favorite vehicle type
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sim_vehicle.py -w -v ArduPlane
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@ -105,8 +95,7 @@ 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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## Starting with microROS Agent
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## Setup ROS 2 and micro-ROS
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Follow the steps to use the microROS Agent
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@ -115,45 +104,40 @@ Follow the steps to use the microROS Agent
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- https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
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- Install and run the microROS agent (as descibed here). Make sure to use the `humble` branch.
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- Follow [the instructions](https://micro.ros.org/docs/tutorials/core/first_application_linux/) for the following:
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- https://micro.ros.org/docs/tutorials/core/first_application_linux/
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- Do "Installing ROS 2 and the micro-ROS build system"
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- Skip the docker run command, build it locally instead
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- Skip "Creating a new firmware workspace"
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- Skip "Building the firmware"
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- Do "Creating the micro-ROS agent"
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- Source your ROS workspace
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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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## Using the ROS2 CLI to Read Ardupilot Data
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* Do "Installing ROS 2 and the micro-ROS build system"
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* Skip the docker run command, build it locally instead
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* Skip "Creating a new firmware workspace"
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* Skip "Building the firmware"
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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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```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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## Tutorial
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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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After your setups are complete, do the following:
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- Source the ros2 installation
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```bash
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source /opt/ros/humble/setup.bash
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```
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- Start a virtual serial port with socat. Take note of the two `/dev/pts/*` ports. If yours are different, substitute as needed.
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```bash
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socat -d -d pty,raw,echo=0 pty,raw,echo=0
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>>> 2023/02/21 05:26:06 socat[334] N PTY is /dev/pts/1
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>>> 2023/02/21 05:26:06 socat[334] N PTY is /dev/pts/2
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>>> 2023/02/21 05:26:06 socat[334] N starting data transfer loop with FDs [5,5] and [7,7]
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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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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 DDS Application)
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```
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- Run SITL
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- Run SITL (remember to kill any terminals running ardupilot SITL beforehand)
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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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sim_vehicle.py -v ArduPlane -D --console --enable-dds -A "--uartC=uart:/dev/pts/1" # (assuming we are using /dev/pts/1 for Ardupilot SITL)
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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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