mirror of https://github.com/ArduPilot/ardupilot
AP_DDS: update dds profile, eliminate need for integration service
- Use type and topic name mapping rules in the arm_motors service profile. - Remove the integration service configuration file. - Update the service section in the README and document the topic and service mapping rules. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
This commit is contained in:
Rhys Mainwaring
Peter Barker
parent
7897f7bfe7
commit
eeb5227228
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@ -14,8 +14,8 @@ constexpr struct AP_DDS_Client::Service_table AP_DDS_Client::services[] = {
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{
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.req_id = to_underlying(ServiceIndex::ARMING_MOTORS),
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.rep_id = to_underlying(ServiceIndex::ARMING_MOTORS),
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.srv_profile_label = "ArmMotorsService",
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.srv_profile_label = "",
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.req_profile_label = "",
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.rep_profile_label = "ArmMotors_Replier",
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.rep_profile_label = "arm_motors__replier",
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}
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};
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@ -1,36 +0,0 @@
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types:
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idls:
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- >
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struct ArmMotors_Request
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{
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boolean arm;
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};
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struct ArmMotors_Response
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{
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boolean result;
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};
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systems:
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dds: { type: fastdds }
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ros2: { type: ros2 }
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routes:
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dds_server:
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server: dds
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clients: ros2
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services:
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arm_motors: {
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request_type: ArmMotors_Request,
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reply_type: ArmMotors_Response,
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route: dds_server,
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remap: {
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dds: {
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topic: ArmMotorsService,
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},
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ros2: {
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request_type: "ardupilot_msgs/ArmMotors:request",
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reply_type: "ardupilot_msgs/ArmMotors:response"
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}
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}
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}
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@ -2,7 +2,7 @@
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## Architecture
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Ardupilot contains the DDS Client library, which can run as SITL. Then, the DDS application runs a ROS2 node, an EProsima Integration Service, and the MicroXRCE Agent. The two systems communicate can communicate over serial or UDP.
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Ardupilot contains the DDS Client library, which can run as SITL. Then, the DDS application runs a ROS 2 node, an eProsima Integration Service, and the MicroXRCE Agent. The two systems communicate over serial or UDP.
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```mermaid
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---
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@ -18,7 +18,7 @@ graph LR
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end
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subgraph DDS Application
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ros[ROS2 Node] <--> agent[Micro ROS Agent]
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ros[ROS 2 Node] <--> agent[Micro ROS Agent]
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agent <-->port1[udp:2019]
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end
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@ -41,7 +41,7 @@ graph LR
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end
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subgraph DDS Application
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ros[ROS2 Node] <--> agent[Micro ROS Agent]
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ros[ROS 2 Node] <--> agent[Micro ROS Agent]
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agent <--> port2[devUSB2]
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end
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@ -109,7 +109,7 @@ Run the simulator with the following command. If using UDP, the only parameter y
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| DDS_ENABLE | Set to 1 to enable DDS, or 0 to disable | 1 |
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| SERIAL1_BAUD | The serial baud rate for DDS | 57 |
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| SERIAL1_PROTOCOL | Set this to 45 to use DDS on the serial port | 0 |
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```bash
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```console
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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 --console -DG --enable-dds
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@ -135,7 +135,7 @@ 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 geographic_msgs
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```bash
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```console
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sudo apt install ros-humble-geographic-msgs
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```
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@ -151,11 +151,11 @@ Follow the steps to use the microROS Agent
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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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## Using the ROS2 CLI to Read Ardupilot Data
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## Using the ROS 2 CLI to Read Ardupilot Data
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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 the ROS 2 installation
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```console
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source /opt/ros/humble/setup.bash
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```
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@ -164,109 +164,118 @@ Next, follow the associated section for your chosen transport, and finally you c
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### UDP (recommended for SITL)
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- Run the microROS agent
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```bash
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```console
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cd ardupilot/libraries/AP_DDS
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ros2 run micro_ros_agent micro_ros_agent udp4 -p 2019 -r dds_xrce_profile.xml
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```
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- Run SITL (remember to kill any terminals running ardupilot SITL beforehand)
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```bash
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```console
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sim_vehicle.py -v ArduPlane -DG --console --enable-dds
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```
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### Serial
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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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```console
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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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```console
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cd ardupilot/libraries/AP_DDS
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# assuming we are using tty/pts/2 for DDS Application
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ros2 run micro_ros_agent micro_ros_agent serial -b 115200 -r dds_xrce_profile.xml -D /dev/pts/2
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```
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- Run SITL (remember to kill any terminals running ardupilot SITL beforehand)
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```bash
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```console
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# assuming we are using /dev/pts/1 for Ardupilot SITL
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sim_vehicle.py -v ArduPlane -DG --console --enable-dds -A "--uartC=uart:/dev/pts/1"
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```
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## Use ROS 2 CLI
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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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$ ros2 node list
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/Ardupilot_DDS_XRCE_Client
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You should be able to see the agent here and view the data output.
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$ ros2 topic list -v
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Published topics:
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* /ap/battery/battery0 [sensor_msgs/msg/BatteryState] 1 publisher
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* /ap/clock [rosgraph_msgs/msg/Clock] 1 publisher
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* /ap/geopose/filtered [geographic_msgs/msg/GeoPoseStamped] 1 publisher
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* /ap/navsat/navsat0 [sensor_msgs/msg/NavSatFix] 1 publisher
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* /ap/pose/filtered [geometry_msgs/msg/PoseStamped] 1 publisher
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* /ap/tf_static [tf2_msgs/msg/TFMessage] 1 publisher
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* /ap/time [builtin_interfaces/msg/Time] 1 publisher
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* /ap/twist/filtered [geometry_msgs/msg/TwistStamped] 1 publisher
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* /parameter_events [rcl_interfaces/msg/ParameterEvent] 1 publisher
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* /rosout [rcl_interfaces/msg/Log] 1 publisher
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```bash
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$ ros2 node list
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/Ardupilot_DDS_XRCE_Client
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```
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Subscribed topics:
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* /ap/joy [sensor_msgs/msg/Joy] 1 subscriber
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* /ap/cmd_vel [geometry_msgs/msg/TwistStamped] 1 subscriber
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* /tf [tf2_msgs/msg/TFMessage] 1 subscriber
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```bash
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$ ros2 topic list -v
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Published topics:
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* /ap/battery/battery0 [sensor_msgs/msg/BatteryState] 1 publisher
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* /ap/clock [rosgraph_msgs/msg/Clock] 1 publisher
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* /ap/geopose/filtered [geographic_msgs/msg/GeoPoseStamped] 1 publisher
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* /ap/navsat/navsat0 [sensor_msgs/msg/NavSatFix] 1 publisher
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* /ap/pose/filtered [geometry_msgs/msg/PoseStamped] 1 publisher
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* /ap/tf_static [tf2_msgs/msg/TFMessage] 1 publisher
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* /ap/time [builtin_interfaces/msg/Time] 1 publisher
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* /ap/twist/filtered [geometry_msgs/msg/TwistStamped] 1 publisher
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* /parameter_events [rcl_interfaces/msg/ParameterEvent] 1 publisher
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* /rosout [rcl_interfaces/msg/Log] 1 publisher
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$ ros2 topic hz /ap/time
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average rate: 50.115
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min: 0.012s max: 0.024s std dev: 0.00328s window: 52
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Subscribed topics:
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* /ap/cmd_vel [geometry_msgs/msg/TwistStamped] 1 subscriber
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* /ap/joy [sensor_msgs/msg/Joy] 1 subscriber
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* /tf [tf2_msgs/msg/TFMessage] 1 subscriber
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```
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$ ros2 topic echo /ap/time
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sec: 1678668735
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nanosec: 729410000
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```bash
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$ ros2 topic hz /ap/time
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average rate: 50.115
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min: 0.012s max: 0.024s std dev: 0.00328s window: 52
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```
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$ ros2 service list
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/arm_motors
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---
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```
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```bash
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$ ros2 topic echo /ap/time
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sec: 1678668735
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nanosec: 729410000
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```
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The static transforms for enabled sensors are also published, and can be recieved like so:
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```console
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ros2 topic echo /ap/tf_static --qos-depth 1 --qos-history keep_last --qos-reliability reliable --qos-durability transient_local --once
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```
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In order to consume the transforms, it's highly recommended to [create and run a transform broadcaster in ROS 2](https://docs.ros.org/en/humble/Concepts/About-Tf2.html#tutorials).
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```bash
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$ ros2 service list
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/ap/arm_motors
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---
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```
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## Using ROS 2 services (with Integration Services)
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The static transforms for enabled sensors are also published, and can be received like so:
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### Prerequisites
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- Install and setup [Micro-XRCE Agent](https://micro-xrce-dds.docs.eprosima.com/en/latest/installation.html#installing-the-agent-standalone)
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- Install and setup [Integration Services](https://integration-service.docs.eprosima.com/en/latest/installation_manual/installation.html) (it would be good to have a separate workspace for this)
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- Get System Handles for [ROS 2](https://github.com/eProsima/ROS2-SH)
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- Get System Handles for [Fast-DDS](https://github.com/eProsima/FastDDS-SH)
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- Once the above-mentioned System Handles have been cloned, build the Integration Services with the following command :
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`colcon build --cmake-args -DMIX_ROS_PACKAGES="example_interfaces ardupilot_msgs"`
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```bash
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ros2 topic echo /ap/tf_static --qos-depth 1 --qos-history keep_last --qos-reliability reliable --qos-durability transient_local --once
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```
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### Setup
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- The necessary ROS 2 messages and service defintions (especially for the Arming/Disarming Services) are already defined in the `ardupilot_msgs` folder in the `Tools` directory.
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In order to consume the transforms, it's highly recommended to [create and run a transform broadcaster in ROS 2](https://docs.ros.org/en/humble/Concepts/About-Tf2.html#tutorials).
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### Terminal 1 (XRCE Agent)
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- Move to the **AP_DDS** folder and run the XRCE Agent as follows `MicroXRCEAgent udp4 -p 2019 -r dds_xrce_profile.xml`
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## Using ROS 2 services
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### Terminal 2 (Integration Service)
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- Source ROS 2 installation
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- Source Integration Service installation
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- Move to the **AP_DDS** folder and run the following command `integration-service Is-Config/Arm_Motors_DDS_IS_config.yaml`
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The `AP_DDS` libraary exposes services which are automatically mapped to ROS 2
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services using appropriate naming conventions for topics and message and service
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types. An earlier version of `AP_DDS` required the use of the eProsima
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[Integration Service](https://github.com/eProsima/Integration-Service) to map
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the request / reply topics from DDS to ROS 2, but this is no longer required.
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### Terminal 3 (Ardupilot)
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- Make sure you have successfully setup Ardupilot and the `DDS_ENABLE` param is set to 1
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- Run SITL with the following command `sim_vehicle.py -v ArduPlane -DG --console --enable-dds`
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List the available services:
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### Terminal 4 (ROS 2 Client)
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- Run the following command : `ros2 service call /arm_motors ardupilot_msgs/srv/ArmMotors "{arm: True}"`
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```bash
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$ ros2 service list -t
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/ap/arm_motors [ardupilot_msgs/srv/ArmMotors]
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```
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Call the arm motors service:
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```bash
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$ ros2 service call /ap/arm_motors ardupilot_msgs/srv/ArmMotors "{arm: True}"
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requester: making request: ardupilot_msgs.srv.ArmMotors_Request(arm=True)
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response:
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ardupilot_msgs.srv.ArmMotors_Response(result=True)
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```
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## Contributing to AP_DDS library
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## Contributing to `AP_DDS` library
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### Adding DDS messages to Ardupilot
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Unlike the use of ROS 2 `.msg` files, since Ardupilot supports native DDS, the message files follow [OMG IDL DDS v4.2](https://www.omg.org/spec/IDL/4.2/PDF).
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@ -274,25 +283,77 @@ This package is intended to work with any `.idl` file complying with those exten
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Over time, these restrictions will ideally go away.
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To get a new IDL file from ROS2, follow this process:
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```console
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To get a new IDL file from ROS 2, follow this process:
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```bash
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cd ardupilot
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source /opt/ros/humble/setup.bash
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# Find the IDL file
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find /opt/ros/$ROS_DISTRO -type f -wholename \*builtin_interfaces/msg/Time.idl
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# Create the directory in the source tree if it doesn't exist similar to the one found in the ros directory
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mkdir -p libraries/AP_DDS/Idl/builtin_interfaces/msg/
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# Copy the IDL
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cp /opt/ros/humble/share/builtin_interfaces/msg/Time.idl libraries/AP_DDS/Idl/builtin_interfaces/msg/
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# Build the code again with the `--enable-dds` flag as described above
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```
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### Rules for adding topics and services to `dds_xrce_profile.xml`
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Topics and services available from `AP_DDS` are automatically mapped into ROS 2
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provided a few rules are followed when defining the entries in
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`dds_xrce_profile.xml`.
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#### ROS 2 message and service interface types
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ROS 2 message and interface defintions are mangled by the `rosidl_adapter` when
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mapping from ROS 2 to DDS to avoid naming conflicts in the C/C++ libraries.
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The ROS 2 object `namespace::Struct` is mangled to `namespace::dds_::Struct_`
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for DDS. The table below provides some example mappings:
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| ROS 2 | DDS |
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| --- | --- |
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| `rosgraph_msgs::msg::Clock` | `rosgraph_msgs::msg::dds_::Clock_` |
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| `sensor_msgs::msg::NavSatFix` | `sensor_msgs::msg::dds_::NavSatFix_` |
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| `ardupilot_msgs::srv::ArmMotors_Request` | `ardupilot_msgs::srv::dds_::ArmMotors_Request_` |
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| `ardupilot_msgs::srv::ArmMotors_Response` | `ardupilot_msgs::srv::dds_::ArmMotors_Response_` |
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Note that a service interface always requires a Request / Response pair.
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#### ROS 2 topic and service names
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The ROS 2 design article: [Topic and Service name mapping to DDS](https://design.ros2.org/articles/topic_and_service_names.html) describes the mapping of ROS 2 topic and service
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names to DDS. Each ROS 2 subsytem is provided a prefix when mapped to DDS.
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The request / response pair for services require an additional suffix.
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| ROS 2 subsystem | DDS Prefix | DDS Suffix |
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| --- | --- | --- |
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| topics | rt/ | |
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| service request | rq/ | Request |
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| service response | rr/ | Reply |
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| service | rs/ | |
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| parameter | rp/ | |
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| action | ra/ | |
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The table below provides example mappings for topics and services
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| ROS 2 | DDS |
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| --- | --- |
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| ap/clock | rt/ap/clock |
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| ap/navsat/navsat0 | rt/ap/navsat/navsat0 |
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| ap/arm_motors | rq/ap/arm_motorsRequest, rr/ap/arm_motorsReply |
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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.
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### Development Requirements
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Astyle is used to format the C++ code in AP_DDS. This is required for CI to pass the build.
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See [Tools/CodeStyle/ardupilot-astyle.sh](../../Tools/CodeStyle/ardupilot-astyle.sh).
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```console
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```bash
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./Tools/CodeStyle/ardupilot-astyle.sh libraries/AP_DDS/*.h libraries/AP_DDS/*.cpp
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```
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@ -301,7 +362,7 @@ This will run the tools automatically when you commit. If there are changes, jus
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1. Install [pre-commit](https://pre-commit.com/#installation) python package.
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1. Install ArduPilot's hooks in the root of the repo, then commit like normal
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```console
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```bash
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cd ardupilot
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pre-commit install
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git commit
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@ -268,6 +268,13 @@
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<dataType>geometry_msgs::msg::dds_::TwistStamped_</dataType>
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</topic>
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</data_reader>
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<replier profile_name="ArmMotors_Replier" service_name="ArmMotorsService" request_type="ArmMotors_Request" reply_type="ArmMotors_Response">
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<replier
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profile_name="arm_motors__replier"
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service_name="rs/ap/arm_motorsService"
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request_type="ardupilot_msgs::srv::dds_::ArmMotors_Request_"
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reply_type="ardupilot_msgs::srv::dds_::ArmMotors_Response_">
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<request_topic_name>rq/ap/arm_motorsRequest</request_topic_name>
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<reply_topic_name>rr/ap/arm_motorsReply</reply_topic_name>
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</replier>
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</profiles>
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