Ros jazzy support

Tools/ros2/README.md

@@ -36,163 +36,7 @@ ArduPilot `AP_DDS` client library.
 
 ## Prerequisites
 
-The packages depend on:
-
-- [ROS 2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
-
-
-## Install Ubuntu
-
-#### 1. Create a workspace folder
-
-```bash
-mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
-```
-
-The ROS 2 tutorials contain more details regarding [ROS 2 workspaces](https://docs.ros.org/en/humble/Tutorials/Workspace/Creating-A-Workspace.html).
-
-#### 2. Get the `ros2.repos` file
-
-```bash
-cd ~/ros2_ws/src
-wget https://raw.githubusercontent.com/ArduPilot/ardupilot/master/Tools/ros2/ros2.repos
-vcs import --recursive < ros2.repos
-```
-
-#### 3. Update dependencies
-
-```bash
-cd ~/ros2_ws
-source /opt/ros/humble/setup.bash
-sudo apt update
-rosdep update
-rosdep install --rosdistro ${ROS_DISTRO} --from-paths src
-```
-
-#### 4. Build
-
-Check that the [ROS environment](https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#check-environment-variables) is configured correctly:
-
-```bash
-ROS_VERSION=2
-ROS_PYTHON_VERSION=3
-ROS_DISTRO=humble
-```
-
-```bash
-cd ~/ros2_ws
-colcon build --cmake-args -DBUILD_TESTING=ON
-```
-
-#### 5. Test
-
-```bash
-source ./install/setup.bash
-colcon test --packages-select ardupilot_dds_tests
-colcon test-result --all --verbose
-```
-
-To debug a specific test, you can do the following:
-```
-colcon --log-level DEBUG test --packages-select ardupilot_dds_tests --event-handlers=console_direct+ --pytest-args -k test_dds_udp_geopose_msg_recv -s
-```
-
-## Install macOS
-
-The install procedure on macOS is similar, except that all dependencies
-must be built from source and additional compiler flags are needed.
-
-#### 1. Create a workspace folder
-
-```bash
-mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
-```
-
-#### 2. Get the `ros2_macos.repos` file
-
-The `ros2_macos.repos` includes additional dependencies to build:
-
-```bash
-cd ~/ros2_ws/src
-wget https://raw.githubusercontent.com/ArduPilot/ardupilot/master/Tools/ros2/ros2_macos.repos
-vcs import --recursive < ros2_macos.repos
-```
-
-#### 3. Update dependencies
-
-```bash
-cd ~/ros2_ws
-source /{path_to_your_ros_distro_workspace}/install/setup.zsh
-```
-
-#### 4.1. Build microxrcedds_gen:
-
-```bash
-cd ~/ros2_ws/src/microxrcedds_gen
-./gradlew assemble
-export PATH=$PATH:$(pwd)/scripts
-```
-
-#### 4.2. Build colcon projects
-
-```bash
-colcon build --symlink-install --cmake-args \
--DBUILD_TESTING=ON \
--DCMAKE_BUILD_TYPE=RelWithDebInfo \
--DCMAKE_MACOSX_RPATH=FALSE \
--DUAGENT_SOCKETCAN_PROFILE=OFF \
--DUAGENT_LOGGER_PROFILE=OFF \
--DUAGENT_USE_SYSTEM_LOGGER=OFF \
--DUAGENT_USE_SYSTEM_FASTDDS=ON \
--DUAGENT_USE_SYSTEM_FASTCDR=ON \
---event-handlers=desktop_notification-
-```
-
-#### 5. Test
-
-```bash
-colcon test \
---pytest-args -s -v \
---event-handlers console_cohesion+ desktop_notification- \
---packages-select ardupilot_dds_tests
-```
-
-## Install Docker
-
-#### 0. Build the image and run the container
-
-Clone the ArduPilot docker project:
-
-```bash
-git clone https://github.com/ArduPilot/ardupilot_dev_docker.git
-```
-
-Build the container:
-
-```bash
-cd ~/ardupilot_dev_docker/docker
-docker build -t ardupilot/ardupilot-dev-ros -f Dockerfile_dev-ros .
-```
-
-Start the container in interactive mode:
-
-```bash
-docker run -it --name ardupilot-dds ardupilot/ardupilot-dev-ros
-```
-
-Connect another bash process to the running container:
-
-```bash
-docker container exec -it ardupilot-dds /bin/bash
-```
-
-The remaining steps 1 - 5 are the same as for Ubuntu. You may need to
-install MAVProxy if it is not available on the container.
-
-
-```bash
-pip install -U MAVProxy
-```
+Follow the installation instructions in the [ArduPilot Wiki](https://ardupilot.org/dev/docs/ros2.html)
 
 
 ## Test details

Tools/ros2/jazzy.repos

@@ -0,0 +1,9 @@
+repositories:
+  ardupilot:
+    type: git
+    url: https://github.com/ArduPilot/ardupilot.git
+    version: master
+  micro_ros_agent:
+    type: git
+    url: https://github.com/micro-ROS/micro-ROS-Agent.git
+    version: jazzy

Tools/ros2/jazzy_macos.repos

@@ -0,0 +1,17 @@
+repositories:
+  ardupilot:
+    type: git
+    url: https://github.com/srmainwaring/ardupilot.git
+    version: pr/pr-dds-launch-tests
+  microxrcedds_gen:
+    type: git
+    url: https://github.com/eProsima/Micro-XRCE-DDS-Gen.git
+    version: develop
+  micro_ros_agent:
+    type: git
+    url: https://github.com/srmainwaring/micro-ROS-Agent.git
+    version: cmake-macos
+  micro_ros_msgs:
+    type: git
+    url: https://github.com/micro-ROS/micro_ros_msgs.git
+    version: jazzy