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AP_DDS: Enable the DDS parameter by default

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* DDS is still disabled by default in all builds for the library level compile flag
* This parameter was blocking running ROS 2 automated testing in CI
* This can be changed once ENABLE_DDS compiler flag is enabled in SITL or for the 4.5 release

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman 2023-08-10 20:18:56 -06:00 committed by Peter Barker
parent 0d87479314
commit 2c5f90adca
2 changed files with 17 additions and 11 deletions
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5
libraries/AP_DDS/AP_DDS_Client.cpp
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@ -15,6 +15,9 @@
#include "AP_DDS_Topic_Table.h"
#include "AP_DDS_Service_Table.h"
// Enable DDS at runtime by default
static constexpr uint8_t ENABLED_BY_DEFAULT = 1;
static constexpr uint16_t DELAY_TIME_TOPIC_MS = 10;
static constexpr uint16_t DELAY_BATTERY_STATE_TOPIC_MS = 1000;
static constexpr uint16_t DELAY_LOCAL_POSE_TOPIC_MS = 33;
@ -42,7 +45,7 @@ const AP_Param::GroupInfo AP_DDS_Client::var_info[] {
// @Values: 0:Disabled,1:Enabled
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO_FLAGS("_ENABLE", 1, AP_DDS_Client, enabled, 0, AP_PARAM_FLAG_ENABLE),
AP_GROUPINFO_FLAGS("_ENABLE", 1, AP_DDS_Client, enabled, ENABLED_BY_DEFAULT, AP_PARAM_FLAG_ENABLE),
#if AP_DDS_UDP_ENABLED
// @Param: _UDP_PORT

23
libraries/AP_DDS/README.md
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@ -104,25 +104,28 @@ sudo apt-get install socat
Set up your [SITL](https://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html).
Run the simulator with the following command. If using UDP, the only parameter you need to set it `DDS_ENABLE`.
| Name | Description |
| - | - |
| DDS_ENABLE | Set to 1 to enable DDS |
| SERIAL1_BAUD | The serial baud rate for DDS |
| SERIAL1_PROTOCOL | Set this to 45 to use DDS on the serial port |
| Name | Description | Default |
| - | - | - |
| DDS_ENABLE | Set to 1 to enable DDS, or 0 to disable | 1 |
| SERIAL1_BAUD | The serial baud rate for DDS | 57 |
| SERIAL1_PROTOCOL | Set this to 45 to use DDS on the serial port | 0 |
```bash
# Wipe params till you see "AP: ArduPilot Ready"
# Select your favorite vehicle type
sim_vehicle.py -w -v ArduPlane --console -DG --enable-dds
# Enable DDS (both for UDP or Serial)
param set DDS_ENABLE 1
# Only for Serial
# Only set this for Serial, which means 115200 baud
param set SERIAL1_BAUD 115
# See libraries/AP_SerialManager/AP_SerialManager.h AP_SerialManager SerialProtocol_DDS_XRCE
param set SERIAL1_PROTOCOL 45
```
Because `DDS_ENABLE` requires a reboot, stop the simulator with ctrl+C and proceed to the next section.
DDS is currently enabled by default, if it's part of the build. To disable it, run the following and reboot the simulator.
```
param set DDS_ENABLE 0
REBOOT
```
## Setup ROS 2 and micro-ROS
Follow the steps to use the microROS Agent