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Tools: Expose map/console mavproxy args

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* These can be set in ros2 launch calls now

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman 2024-05-07 09:46:20 -06:00 committed by Randy Mackay
parent 4ffa74e23b
commit d520b77f77
2 changed files with 39 additions and 11 deletions
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8
Tools/ros2/README.md
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@ -13,6 +13,14 @@ For example `ardurover` SITL may be launched with:
ros2 launch ardupilot_sitl sitl.launch.py command:=ardurover model:=rover ros2 launch ardupilot_sitl sitl.launch.py command:=ardurover model:=rover
``` ```
Other launch files are included with many arguments.
Some common arguments are exposed and forwarded to the underlying process.
For example, MAVProxy can be launched, and you can enable the `console` and `map`.
```bash
ros2 launch ardupilot_sitl sitl_mavproxy.launch.py map:=True console:=True
```
#### `ardupilot_dds_test` #### `ardupilot_dds_test`
A `colcon` package for testing communication between `micro_ros_agent` and the A `colcon` package for testing communication between `micro_ros_agent` and the

42
Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py
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@ -286,26 +286,36 @@ class MAVProxyLaunch:
master = LaunchConfiguration("master").perform(context) master = LaunchConfiguration("master").perform(context)
out = LaunchConfiguration("out").perform(context) out = LaunchConfiguration("out").perform(context)
sitl = LaunchConfiguration("sitl").perform(context) sitl = LaunchConfiguration("sitl").perform(context)
console = LaunchConfiguration("console").perform(context)
map = LaunchConfiguration("map").perform(context)
# Display launch arguments. # Display launch arguments.
print(f"command: {command}") print(f"command: {command}")
print(f"master: {master}") print(f"master: {master}")
print(f"sitl: {sitl}") print(f"sitl: {sitl}")
print(f"out: {out}") print(f"out: {out}")
print(f"console: {console}")
print(f"map: {map}")
cmd = [
f"{command} ",
f"--out {out} ",
"--out ",
"127.0.0.1:14551 ",
f"--master {master} ",
f"--sitl {sitl} ",
"--non-interactive ",
]
if console:
cmd.append("--console ")
if map:
cmd.append("--map ")
# Create action. # Create action.
mavproxy_process = ExecuteProcess( mavproxy_process = ExecuteProcess(
cmd=[ cmd=cmd,
[
f"{command} ",
f"--out {out} ",
"--out ",
"127.0.0.1:14551 ",
f"--master {master} ",
f"--sitl {sitl} ",
"--non-interactive ",
]
],
shell=True, shell=True,
output="both", output="both",
respawn=False, respawn=False,
@ -355,6 +365,16 @@ class MAVProxyLaunch:
default_value="127.0.0.1:5501", default_value="127.0.0.1:5501",
description="SITL output port.", description="SITL output port.",
), ),
DeclareLaunchArgument(
"map",
default_value="False",
description="Enable MAVProxy Map.",
),
DeclareLaunchArgument(
"console",
default_value="False",
description="Enable MAVProxy Console.",
),
] ]