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AP_DDS: Readme resored
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‎libraries/AP_DDS/README.md

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@@ -10,21 +10,21 @@ title: UDP Loopback
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---
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graph LR
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subgraph Linux Computer
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subgraph Linux Computer
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subgraph Ardupilot SITL
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veh[sim_vehicle.py] <--> xrceClient[EProsima Micro XRCE DDS Client]
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xrceClient <--> port1[udp:2019]
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end
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subgraph Ardupilot SITL
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veh[sim_vehicle.py] <--> xrceClient[EProsima Micro XRCE DDS Client]
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xrceClient <--> port1[udp:2019]
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end
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subgraph DDS Application
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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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subgraph DDS Application
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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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loopback
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loopback
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end
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end
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```
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```mermaid
@@ -33,21 +33,21 @@ title: Hardware Serial Port Loopback
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---
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graph LR
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subgraph Linux Computer
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subgraph Linux Computer
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subgraph Ardupilot SITL
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veh[sim_vehicle.py] <--> xrceClient[EProsima Micro XRCE DDS Client]
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xrceClient <--> port1[devUSB1]
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end
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subgraph Ardupilot SITL
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veh[sim_vehicle.py] <--> xrceClient[EProsima Micro XRCE DDS Client]
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xrceClient <--> port1[devUSB1]
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end
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subgraph DDS Application
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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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subgraph DDS Application
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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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port1 <--> port2
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port1 <--> port2
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end
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end
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```
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@@ -59,89 +59,88 @@ Follow the wiki [here](https://ardupilot.org/dev/docs/ros2.html#installation-ubu
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### Serial Only: Set up serial for SITL with DDS
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On Linux, creating a virtual serial port will be necessary to use serial in SITL, because of that install socat.
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On Linux, creating a virtual serial port will be necessary to use serial in SITL, because of that install socat.
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```
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sudo apt-get update
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sudo apt-get install socat
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```
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```
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sudo apt-get update
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sudo apt-get install socat
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```
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## Setup ardupilot for SITL with DDS
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Set up your [SITL](https://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html).
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Run the simulator with the following command. If using UDP, the only parameter you need to set it `DDS_ENABLE`.
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Set up your [SITL](https://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html).
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Run the simulator with the following command. If using UDP, the only parameter you need to set it `DDS_ENABLE`.
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| Name | Description | Default |
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| - | - | - |
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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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| Name | Description | Default |
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| - | - | - |
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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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```console
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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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sim_vehicle.py -w -v ArduPlane --console -DG --enable-dds
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# Only set this for Serial, which means 115200 baud
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param set SERIAL1_BAUD 115
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# See libraries/AP_SerialManager/AP_SerialManager.h AP_SerialManager SerialProtocol_DDS_XRCE
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param set SERIAL1_PROTOCOL 45
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```
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param set SERIAL1_PROTOCOL 45
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```
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DDS is currently enabled by default, if it's part of the build. To disable it, run the following and reboot the simulator.
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```
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param set DDS_ENABLE 0
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REBOOT
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```
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DDS is currently enabled by default, if it's part of the build. To disable it, run the following and reboot the simulator.
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```
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param set DDS_ENABLE 0
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REBOOT
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```
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## Setup ROS 2 and micro-ROS
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Follow the steps to use the microROS Agent
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Follow the steps to use the microROS Agent
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- Install ROS Humble (as described here)
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- Install ROS Humble (as described here)
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- https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
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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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```console
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sudo apt install ros-humble-geographic-msgs
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```
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- Install geographic_msgs
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```console
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sudo apt install ros-humble-geographic-msgs
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```
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- Install and run the microROS agent (as described here). Make sure to use the `humble` branch.
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- Follow [the instructions](https://micro.ros.org/docs/tutorials/core/first_application_linux/) for the following:
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- Install and run the microROS agent (as described here). Make sure to use the `humble` branch.
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- Follow [the instructions](https://micro.ros.org/docs/tutorials/core/first_application_linux/) for the following:
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- Do "Installing ROS 2 and the micro-ROS build system"
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- Skip the docker run command, build it locally instead
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- Skip "Creating a new firmware workspace"
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- Skip "Building the firmware"
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- Do "Creating the micro-ROS agent"
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- Source your ROS workspace
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- Do "Installing ROS 2 and the micro-ROS build system"
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- Skip the docker run command, build it locally instead
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- Skip "Creating a new firmware workspace"
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- Skip "Building the firmware"
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- Do "Creating the micro-ROS agent"
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- Source your ROS workspace
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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 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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Next, follow the associated section for your chosen transport, and finally you can use the ROS 2 CLI.
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After your setups are complete, do the following:
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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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Next, follow the associated section for your chosen transport, and finally you can use the ROS 2 CLI.
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### UDP (recommended for SITL)
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- Run the microROS agent
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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
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```
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- Run SITL (remember to kill any terminals running ardupilot SITL beforehand)
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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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- Run the microROS agent
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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
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```
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- Run SITL (remember to kill any terminals running ardupilot SITL beforehand)
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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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- 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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```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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