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AP_DDS: update readme with feedback provided

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pedro-fuoco 2023-03-27 10:27:19 -03:00 committed by Andrew Tridgell
parent 3c09a9e8aa
commit dfdd7cde1b
1 changed files with 4 additions and 5 deletions
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9
libraries/AP_DDS/README.md
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@ -45,7 +45,7 @@ While DDS support in Ardupilot is mostly through git submodules, another tool ne
./gradlew assemble ./gradlew assemble
``` ```
- Add the generator directory to $PATH, like [so](https://github.com/eProsima/Micro-XRCE-DDS-docs/issues/83). - Add the generator directory to $PATH.
```console ```console
# Add this to ~/.bashrc # Add this to ~/.bashrc
@ -72,7 +72,7 @@ section, you should remove it and switch to local install.
| Name | Description | | Name | Description |
| - | - | | - | - |
| SERIAL1_BAUD | The serial baud rate for DDS, use 115 | | SERIAL1_BAUD | The serial baud rate for DDS |
| SERIAL1_PROTOCOL | Set this to 45 to use DDS on the serial port | | SERIAL1_PROTOCOL | Set this to 45 to use DDS on the serial port |
@ -105,7 +105,6 @@ 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
``` ```
Alternatively it is possible to change the parameters on a GCS
## Starting with microROS Agent ## Starting with microROS Agent
@ -130,7 +129,7 @@ Follow the instructions for the following:
* Do "Creating the micro-ROS agent" * Do "Creating the micro-ROS agent"
* Source your ROS workspace * Source your ROS workspace
Run microROS agent with the following command to test the agent Run microROS agent with the following command
```bash ```bash
cd ardupilot/libraries/AP_DDS cd ardupilot/libraries/AP_DDS
@ -141,7 +140,7 @@ ros2 run micro_ros_agent micro_ros_agent serial -b 115200 -D /dev/pts/2 -r dds_
### Using the ROS2 CLI to Read Ardupilot Data ### Using the ROS2 CLI to Read Ardupilot Data
If you have installed the microROS agent and ROS2 Humble If you have installed the microROS agent and ROS 2 Humble
- Source the ros2 installation - Source the ros2 installation
```bash ```bash