Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 01:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_DDS: update readme headers overhaul

Browse Source
This commit is contained in:
pedro-fuoco 2023-03-27 11:05:51 -03:00 committed by Andrew Tridgell
parent dfdd7cde1b
commit cb628e6875
1 changed files with 29 additions and 45 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

74
libraries/AP_DDS/README.md
View File

@ -68,34 +68,24 @@ For now, avoid having simultaneous local and global installs.
If you followed the [global install](https://fast-dds.docs.eprosima.com/en/latest/installation/sources/sources_linux.html#global-installation) If you followed the [global install](https://fast-dds.docs.eprosima.com/en/latest/installation/sources/sources_linux.html#global-installation)
section, you should remove it and switch to local install. section, you should remove it and switch to local install.
## Parameters for DDS ## Setup serial for SITL with DDS
| Name | Description | On Linux, creating a virtual serial port will be necessary to use serial in SITL, because of that install socat.
| - | - |
| SERIAL1_BAUD | The serial baud rate for DDS |
| SERIAL1_PROTOCOL | Set this to 45 to use DDS on the serial port |
## Testing with a UART
On Linux, first create a virtual serial port for use with SITL like [this](https://stackoverflow.com/questions/52187/virtual-serial-port-for-linux)
``` ```
sudo apt-get update sudo apt-get update
sudo apt-get install socat sudo apt-get install socat
``` ```
Then, start a virtual serial port with socat. Take note of the two `/dev/pts/*` ports. If yours are different, substitute as needed. ## Setup ardupilot for SITL with DDS
```
socat -d -d pty,raw,echo=0 pty,raw,echo=0
>>> 2023/02/21 05:26:06 socat[334] N PTY is /dev/pts/1
>>> 2023/02/21 05:26:06 socat[334] N PTY is /dev/pts/2
>>> 2023/02/21 05:26:06 socat[334] N starting data transfer loop with FDs [5,5] and [7,7]
```
Set up your [SITL](https://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html). Set up your [SITL](https://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html).
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. Run the simulator with the following command. Take note how two parameters need adjusting from default to use DDS.
``` | Name | Description |
| - | - |
| SERIAL1_BAUD | The serial baud rate for DDS |
| SERIAL1_PROTOCOL | Set this to 45 to use DDS on the serial port |
```bash
# Wipe params till you see "AP: ArduPilot Ready" # Wipe params till you see "AP: ArduPilot Ready"
# Select your favorite vehicle type # Select your favorite vehicle type
sim_vehicle.py -w -v ArduPlane sim_vehicle.py -w -v ArduPlane
@ -105,8 +95,7 @@ param set SERIAL1_BAUD 115
# See libraries/AP_SerialManager/AP_SerialManager.h AP_SerialManager SerialProtocol_DDS_XRCE # See libraries/AP_SerialManager/AP_SerialManager.h AP_SerialManager SerialProtocol_DDS_XRCE
param set SERIAL1_PROTOCOL 45 param set SERIAL1_PROTOCOL 45
``` ```
## Setup ROS 2 and micro-ROS
## Starting with microROS Agent
Follow the steps to use the microROS Agent Follow the steps to use the microROS Agent
@ -115,45 +104,40 @@ Follow the steps to use the microROS Agent
- https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html - https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
- Install and run the microROS agent (as descibed here). Make sure to use the `humble` branch. - Install and run the microROS agent (as descibed here). Make sure to use the `humble` branch.
- Follow [the instructions](https://micro.ros.org/docs/tutorials/core/first_application_linux/) for the following:
- https://micro.ros.org/docs/tutorials/core/first_application_linux/ - Do "Installing ROS 2 and the micro-ROS build system"
- Skip the docker run command, build it locally instead
- Skip "Creating a new firmware workspace"
- Skip "Building the firmware"
- Do "Creating the micro-ROS agent"
- Source your ROS workspace
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`. 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`.
Follow the instructions for the following: ## Using the ROS2 CLI to Read Ardupilot Data
* Do "Installing ROS 2 and the micro-ROS build system" After your setups are complete, do the following:
* Skip the docker run command, build it locally instead
* Skip "Creating a new firmware workspace"
* Skip "Building the firmware"
* Do "Creating the micro-ROS agent"
* Source your ROS workspace
Run microROS agent with the following command
```bash
cd ardupilot/libraries/AP_DDS
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)
```
## Tutorial
### Using the ROS2 CLI to Read Ardupilot Data
If you have installed the microROS agent and ROS 2 Humble
- Source the ros2 installation - Source the ros2 installation
```bash ```bash
source /opt/ros/humble/setup.bash source /opt/ros/humble/setup.bash
``` ```
- Start a virtual serial port with socat. Take note of the two `/dev/pts/*` ports. If yours are different, substitute as needed.
```bash
socat -d -d pty,raw,echo=0 pty,raw,echo=0
>>> 2023/02/21 05:26:06 socat[334] N PTY is /dev/pts/1
>>> 2023/02/21 05:26:06 socat[334] N PTY is /dev/pts/2
>>> 2023/02/21 05:26:06 socat[334] N starting data transfer loop with FDs [5,5] and [7,7]
```
- Run the microROS agent - Run the microROS agent
```bash ```bash
cd ardupilot/libraries/AP_DDS cd ardupilot/libraries/AP_DDS
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) 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)
``` ```
- Run SITL - Run SITL (remember to kill any terminals running ardupilot SITL beforehand)
```bash ```bash
sim_vehicle.py -v ArduPlane -D --console --enable-dds -A "--uartC=uart:/dev/pts/1" 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)
``` ```
- You should be able to see the agent here and view the data output. - You should be able to see the agent here and view the data output.
```bash ```bash