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AP_DDS: Add UDP instructions to README

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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
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Ryan Friedman 2023-05-23 09:54:29 -06:00 committed by Andrew Tridgell
parent 078debb893
commit a53cac8241
1 changed files with 63 additions and 15 deletions
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78
libraries/AP_DDS/README.md
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@ -2,7 +2,30 @@
## Architecture
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 over serial, which is the only supported protocol in Ardupilot MicroXCE DDS at this time.
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.
```mermaid
---
title: UDP Loopback
---
graph LR
subgraph Linux Computer
subgraph Ardupilot SITL
veh[sim_vehicle.py] <--> xrceClient[EProsima Micro XRCE DDS Client]
xrceClient <--> port1[udp:2019]
end
subgraph DDS Application
ros[ROS2 Node] <--> agent[Micro ROS Agent]
agent <-->port1[udp:2019]
end
loopback
end
```
```mermaid
---
@ -27,7 +50,6 @@ graph LR
end
```
Currently, serial is the only supported transport, but there are plans to add IP-based transport over ethernet.
## Installing Build Dependencies
@ -45,7 +67,7 @@ While DDS support in Ardupilot is mostly through git submodules, another tool ne
./gradlew assemble
```
- Add the generator directory to $PATH.
- Add the generator directory to $PATH.
```console
# Add this to ~/.bashrc
@ -68,7 +90,7 @@ For now, avoid having simultaneous local and global installs.
If you followed the [global install](https://fast-dds.docs.eprosima.com/en/latest/installation/sources/sources_linux.html#global-installation)
section, you should remove it and switch to local install.
## Setup serial for SITL with DDS
### Serial Only: Set up serial for SITL with DDS
On Linux, creating a virtual serial port will be necessary to use serial in SITL, because of that install socat.
@ -80,7 +102,8 @@ sudo apt-get install socat
## Setup ardupilot for SITL with DDS
Set up your [SITL](https://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html).
Run the simulator with the following command. Take note how three parameters need adjusting from default to use DDS.
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 |
@ -89,14 +112,17 @@ Run the simulator with the following command. Take note how three parameters nee
```bash
# Wipe params till you see "AP: ArduPilot Ready"
# Select your favorite vehicle type
sim_vehicle.py -w -v ArduPlane --enable-dds
sim_vehicle.py -w -v ArduPlane --console -DG --enable-dds
# Set params
# Enable DDS (both for UDP or Serial)
param set DDS_ENABLE 1
# Only for Serial
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.
## Setup ROS 2 and micro-ROS
Follow the steps to use the microROS Agent
@ -125,11 +151,28 @@ Until this [PR](https://github.com/micro-ROS/micro-ROS.github.io/pull/401) is me
## Using the ROS2 CLI to Read Ardupilot Data
After your setups are complete, do the following:
- Source the ros2 installation
```bash
source /opt/ros/humble/setup.bash
```
Next, follow the associated section for your chosen transport, and finally you can use the ROS 2 CLI.
### UDP (recommended for SITL)
- Run the microROS agent
```bash
cd ardupilot/libraries/AP_DDS
ros2 run micro_ros_agent micro_ros_agent udp4 -p 2019 -r dds_xrce_profile.xml
```
- Run SITL (remember to kill any terminals running ardupilot SITL beforehand)
```bash
# assuming we are using /dev/pts/1 for Ardupilot SITL
sim_vehicle.py -v ArduPlane -DG --console --enable-dds
```
### Serial
- Start a virtual serial port with socat. Take note of the two `/dev/pts/*` ports. If yours are different, substitute as needed.
```bash
socat -d -d pty,raw,echo=0 pty,raw,echo=0
@ -140,12 +183,17 @@ After your setups are complete, do the following:
- Run the microROS agent
```bash
cd ardupilot/libraries/AP_DDS
ros2 run micro_ros_agent micro_ros_agent serial -b 115200 -D /dev/pts/2 -r dds_xrce_profile.xml # (assuming we are using tty/pts/2 for DDS Application)
# assuming we are using tty/pts/2 for DDS Application
ros2 run micro_ros_agent micro_ros_agent serial -b 115200 -r dds_xrce_profile.xml -D /dev/pts/2
```
- Run SITL (remember to kill any terminals running ardupilot SITL beforehand)
```bash
sim_vehicle.py -v ArduPlane -D --console --enable-dds -A "--uartC=uart:/dev/pts/1" # (assuming we are using /dev/pts/1 for Ardupilot SITL)
# assuming we are using /dev/pts/1 for Ardupilot SITL
sim_vehicle.py -v ArduPlane -DG --console --enable-dds -A "--uartC=uart:/dev/pts/1"
```
## Use ROS 2 CLI
- You should be able to see the agent here and view the data output.
```bash
$ ros2 node list
@ -171,7 +219,7 @@ After your setups are complete, do the following:
average rate: 50.115
min: 0.012s max: 0.024s std dev: 0.00328s window: 52
$ ros2 topic echo /ap/time
$ ros2 topic echo /ap/time
sec: 1678668735
nanosec: 729410000
---
@ -181,7 +229,7 @@ After your setups are complete, do the following:
```console
ros2 topic echo /ap/tf_static --qos-depth 1 --qos-history keep_last --qos-reliability reliable --qos-durability transient_local --once
```
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).
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).
## Contributing to AP_DDS library
@ -190,7 +238,7 @@ After your setups are complete, do the following:
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).
This package is intended to work with any `.idl` file complying with those extensions.
Over time, these restrictions will ideally go away.
Over time, these restrictions will ideally go away.
To get a new IDL file from ROS2, follow this process:
```console
@ -202,7 +250,7 @@ find /opt/ros/$ROS_DISTRO -type f -wholename \*builtin_interfaces/msg/Time.idl
mkdir -p libraries/AP_DDS/Idl/builtin_interfaces/msg/
# Copy the IDL
cp /opt/ros/humble/share/builtin_interfaces/msg/Time.idl libraries/AP_DDS/Idl/builtin_interfaces/msg/
# Build the code again with the `--enable-dds` flag as described above
# Build the code again with the `--enable-dds` flag as described above
```
### Development Requirements
@ -214,7 +262,7 @@ See [Tools/CodeStyle/ardupilot-astyle.sh](../../Tools/CodeStyle/ardupilot-astyle
./Tools/CodeStyle/ardupilot-astyle.sh libraries/AP_DDS/*.h libraries/AP_DDS/*.cpp
```
Pre-commit is used for other things like formatting python and XML code.
Pre-commit is used for other things like formatting python and XML code.
This will run the tools automatically when you commit. If there are changes, just add them back your staging index and commit again.
1. Install [pre-commit](https://pre-commit.com/#installation) python package.