mirror of https://github.com/ArduPilot/ardupilot
250 lines
6.6 KiB
Markdown
250 lines
6.6 KiB
Markdown
# ArduPilot ROS 2 packages
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This directory contains ROS 2 packages and configuration files for running
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ROS 2 processes and nodes that communicate with the ArduPilot DDS client
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library using the microROS agent. It contains the following packages:
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#### `ardupilot_sitl`
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A `colcon` package for building and running ArduPilot SITL using the ROS 2 CLI.
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For example `ardurover` SITL may be launched with:
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```bash
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ros2 launch ardupilot_sitl sitl.launch.py command:=ardurover model:=rover
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```
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#### `ardupilot_dds_test`
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A `colcon` package for testing communication between `micro_ros_agent` and the
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ArduPilot `AP_DDS` client library.
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## Prerequisites
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The packages depend on:
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- [ROS 2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
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## Install Ubuntu
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#### 1. Create a workspace folder
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```bash
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mkdir -p ~/ros_ws/src && cd ~/ros_ws/src
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```
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The ROS 2 tutorials contain more details regarding [ROS 2 workspaces](https://docs.ros.org/en/humble/Tutorials/Workspace/Creating-A-Workspace.html).
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#### 2. Get the `ros2.repos` file
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```bash
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cd ~/ros2_ws/src
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wget https://raw.githubusercontent.com/srmainwaring/ardupilot/pr/pr-dds-launch-tests/Tools/ros2/ros2.repos
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vcs import --recursive < ros2.repos
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```
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#### 3. Update dependencies
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```bash
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cd ~/ros_ws
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source /opt/ros/humble/setup.bash
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sudo apt update
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rosdep update
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rosdep install --rosdistro humble --from-paths src
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```
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#### 4. Build
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```bash
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cd ~/ros_ws
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colcon build --packages-select micro_ros_agent
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colcon build --packages-select ardupilot_sitl
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colcon build --packages-select ardupilot_dds_tests
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```
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#### 5. Test
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```bash
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source ./install/setup.bash
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colcon test --pytest-args -s -v --event-handlers console_cohesion+ --packages-select ardupilot_dds_tests
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colcon test-result --all --verbose
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```
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## Install macOS
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The install procedure on macOS is similar, except that all dependencies
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must be built from source and additional compiler flags are needed.
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#### 1. Create a workspace folder
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```bash
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mkdir -p ~/ros_ws/src && cd ~/ros_ws/src
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```
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#### 2. Get the `ros2.repos` file
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The `ros2_macos.repos` includes additional dependencies to build:
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```bash
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cd ~/ros2_ws/src
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wget https://raw.githubusercontent.com/srmainwaring/ardupilot/pr/pr-dds-launch-tests/Tools/ros2/ros2_macos.repos
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vcs import --recursive < ros2_macos.repos
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```
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#### 3. Update dependencies
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```bash
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cd ~/ros_ws
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source /<path_to_your_ros_humble_workspace>/install/setup.zsh
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```
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#### 4.1. Build microxrcedds_gen:
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```bash
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cd ~/ros2_ws/src/microxrcedds_gen
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./gradlew assemble
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export PATH=$PATH:$(pwd)/scripts
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```
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#### 4.2. Build colcon projects
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```bash
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colcon build --symlink-install --cmake-args \
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-DBUILD_TESTING=ON \
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-DCMAKE_BUILD_TYPE=RelWithDebInfo \
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-DCMAKE_MACOSX_RPATH=FALSE \
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-DUAGENT_SOCKETCAN_PROFILE=OFF \
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-DUAGENT_LOGGER_PROFILE=OFF \
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-DUAGENT_USE_SYSTEM_LOGGER=OFF \
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-DUAGENT_USE_SYSTEM_FASTDDS=ON \
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-DUAGENT_USE_SYSTEM_FASTCDR=ON \
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--event-handlers=desktop_notification- \
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--packages-select \
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micro_ros_msgs \
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micro_ros_agent \
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ardupilot_sitl \
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ardupilot_dds_tests
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```
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#### 5. Test
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```bash
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colcon test \
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--pytest-args -s -v \
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--event-handlers console_cohesion+ desktop_notification- \
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--packages-select ardupilot_dds_tests
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```
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## Install Docker
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#### 0. Build the image and run the container
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Clone the ArduPilot docker project:
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```bash
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git clone https://github.com/ArduPilot/ardupilot_dev_docker.git
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```
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Build the container:
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```bash
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cd ~/ardupilot_dev_docker/docker
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docker build -t ardupilot/ardupilot-dev-ros -f Dockerfile_dev-ros .
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```
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Start the container in interactive mode:
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```bash
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docker run -it --name ardupilot-dds ardupilot/ardupilot-dev-ros
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```
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Connect another bash process to the running container:
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```bash
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docker container exec -it ardupilot-dds /bin/bash
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```
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The remaining steps 1 - 5 are the same as for Ubuntu. You may need to
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install MAVProxy if it is not available on the container.
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```bash
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pip install -U MAVProxy
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```
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## Test details
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The launch file replicates the following commands:
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```bash
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socat -d -d pty,raw,echo=0,link=./dev/ttyROS0 pty,raw,echo=0,link=./dev/ttyROS1
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```
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```bash
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ros2 run micro_ros_agent micro_ros_agent serial --baudrate 115200 --dev ./dev/ttyROS0 --refs $(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/dds_xrce_profile.xml
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```
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```bash
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arducopter --synthetic-clock --wipe --model quad --speedup 1 --slave 0 --instance 0 --uartC uart:./dev/ttyROS1 --defaults $(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds.parm --sim-address 127.0.0.1
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```
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```bash
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mavproxy.py --out 127.0.0.1:14550 --out 127.0.0.1:14551 --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501
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```
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Using individual launch files
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```bash
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ros2 launch ardupilot_sitl virtual_ports.launch.py tty0:=./dev/ttyROS0 tty1:=./dev/ttyROS1
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```
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```bash
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ros2 launch ardupilot_sitl micro_ros_agent.launch.py refs:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/dds_xrce_profile.xml baudrate:=115200 device:=./dev/ttyROS0
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```
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```bash
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ros2 launch ardupilot_sitl sitl.launch.py synthetic_clock:=True wipe:=True model:=quad speedup:=1 slave:=0 instance:=0 uartC:=uart:./dev/ttyROS1 defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds.parm sim_address:=127.0.0.1
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```
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```bash
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ros2 launch ardupilot_sitl mavproxy.launch.py master:=tcp:127.0.0.1:5760 sitl:=127.0.0.1:5501
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```
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Using combined launch file
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```bash
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ros2 launch ardupilot_sitl sitl_dds.launch.py \
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\
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tty0:=./dev/ttyROS0 \
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tty1:=./dev/ttyROS1 \
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\
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refs:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/dds_xrce_profile.xml \
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baudrate:=115200 \
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device:=./dev/ttyROS0 \
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\
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synthetic_clock:=True \
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wipe:=True \
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model:=quad \
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speedup:=1 \
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slave:=0 \
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instance:=0 \
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uartC:=uart:./dev/ttyROS1 \
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defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds.parm \
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sim_address:=127.0.0.1 \
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\
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master:=tcp:127.0.0.1:5760 \
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sitl:=127.0.0.1:5501
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```
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## References
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### Configuring linters and formatters for ROS 2 projects
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- [ROS 2 Code style and language versions](https://docs.ros.org/en/humble/The-ROS2-Project/Contributing/Code-Style-Language-Versions.html).
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- [Configuring Flake8](https://flake8.pycqa.org/en/latest/user/configuration.html).
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- [ament_lint_auto](https://github.com/ament/ament_lint/blob/humble/ament_lint_auto/doc/index.rst).
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- [How to configure ament python linters in CMakeLists?](https://answers.ros.org/question/351012/how-to-configure-ament-python-linters-in-cmakelists/).
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- [Using black and flake8 in tandem](https://sbarnea.com/lint/black/).
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