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AP_DDS: Readme updated with fractional lat lon
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@tizianofiorenzani
tizianofiorenzani committed Dec 9, 2024
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160 changes: 80 additions & 80 deletions libraries/AP_DDS/README.md
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Expand Up @@ -10,21 +10,21 @@ title: UDP Loopback
---
graph LR
subgraph Linux Computer
subgraph Linux Computer
subgraph Ardupilot SITL
veh[sim_vehicle.py] <--> xrceClient[EProsima Micro XRCE DDS Client]
xrceClient <--> port1[udp:2019]
end
subgraph Ardupilot SITL
veh[sim_vehicle.py] <--> xrceClient[EProsima Micro XRCE DDS Client]
xrceClient <--> port1[udp:2019]
end
subgraph DDS Application
ros[ROS 2 Node] <--> agent[Micro ROS Agent]
agent <-->port1[udp:2019]
end
subgraph DDS Application
ros[ROS 2 Node] <--> agent[Micro ROS Agent]
agent <-->port1[udp:2019]
end
loopback
loopback
end
end
```

```mermaid
Expand All @@ -33,21 +33,21 @@ title: Hardware Serial Port Loopback
---
graph LR
subgraph Linux Computer
subgraph Linux Computer
subgraph Ardupilot SITL
veh[sim_vehicle.py] <--> xrceClient[EProsima Micro XRCE DDS Client]
xrceClient <--> port1[devUSB1]
end
subgraph Ardupilot SITL
veh[sim_vehicle.py] <--> xrceClient[EProsima Micro XRCE DDS Client]
xrceClient <--> port1[devUSB1]
end
subgraph DDS Application
ros[ROS 2 Node] <--> agent[Micro ROS Agent]
agent <--> port2[devUSB2]
end
subgraph DDS Application
ros[ROS 2 Node] <--> agent[Micro ROS Agent]
agent <--> port2[devUSB2]
end
port1 <--> port2
port1 <--> port2
end
end
```


Expand All @@ -59,89 +59,89 @@ Follow the wiki [here](https://ardupilot.org/dev/docs/ros2.html#installation-ubu

### 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.
On Linux, creating a virtual serial port will be necessary to use serial in SITL, because of that install socat.

```
sudo apt-get update
sudo apt-get install socat
```
```
sudo apt-get update
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. If using UDP, the only parameter you need to set it `DDS_ENABLE`.
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 | 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 |
| 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 |

```console
```console
# Wipe params till you see "AP: ArduPilot Ready"
# Select your favorite vehicle type
sim_vehicle.py -w -v ArduPlane --console -DG --enable-dds
sim_vehicle.py -w -v ArduPlane --console -DG --enable-dds

# Only set this for Serial, which means 115200 baud
param set SERIAL1_BAUD 115
param set SERIAL1_BAUD 115
# See libraries/AP_SerialManager/AP_SerialManager.h AP_SerialManager SerialProtocol_DDS_XRCE
param set SERIAL1_PROTOCOL 45
```
param set SERIAL1_PROTOCOL 45
```

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
```
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
Follow the steps to use the microROS Agent

- Install ROS Humble (as described here)
- Install ROS Humble (as described here)

- https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
- https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

- Install geographic_msgs
```console
sudo apt install ros-humble-geographic-msgs
```
- Install geographic_msgs
```console
sudo apt install ros-humble-geographic-msgs
```

- Install and run the microROS agent (as described here). Make sure to use the `humble` branch.
- Follow [the instructions](https://micro.ros.org/docs/tutorials/core/first_application_linux/) for the following:
- Install and run the microROS agent (as described here). Make sure to use the `humble` branch.
- Follow [the instructions](https://micro.ros.org/docs/tutorials/core/first_application_linux/) for the following:

- Do "Installing ROS 2 and the micro-ROS build system"
- Skip the docker run command, build it locally instead
- Skip "Creating a new firmware workspace"
- Skip "Building the firmware"
- Do "Creating the micro-ROS agent"
- Source your ROS workspace
- Do "Installing ROS 2 and the micro-ROS build system"
- Skip the docker run command, build it locally instead
- Skip "Creating a new firmware workspace"
- Skip "Building the firmware"
- Do "Creating the micro-ROS agent"
- Source your ROS workspace

## Using the ROS 2 CLI to Read Ardupilot Data

After your setups are complete, do the following:
- Source the ROS 2 installation
```console
source /opt/ros/humble/setup.bash
```
After your setups are complete, do the following:
- Source the ROS 2 installation
```console
source /opt/ros/humble/setup.bash
```

Next, follow the associated section for your chosen transport, and finally you can use the ROS 2 CLI.
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
```console
cd ardupilot/libraries/AP_DDS
ros2 run micro_ros_agent micro_ros_agent udp4 -p 2019
```
- Run SITL (remember to kill any terminals running ardupilot SITL beforehand)
```console
sim_vehicle.py -v ArduPlane -DG --console --enable-dds
```
- Run the microROS agent
```console
cd ardupilot/libraries/AP_DDS
ros2 run micro_ros_agent micro_ros_agent udp4 -p 2019
```
- Run SITL (remember to kill any terminals running ardupilot SITL beforehand)
```console
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.
- Start a virtual serial port with socat. Take note of the two `/dev/pts/*` ports. If yours are different, substitute as needed.
```console
socat -d -d pty,raw,echo=0 pty,raw,echo=0
>>> 2023/02/21 05:26:06 socat[334] N PTY is /dev/pts/1
Expand Down Expand Up @@ -292,16 +292,16 @@ ardupilot_msgs.srv.RallySet_Response(success=True, size=0)
Append a Rally Point:

Rally points units of measure are:
* degrees for the latitude and longitude;
* meters for the altitude.
* degrees for the latitude and longitude (up to 7 decimal digits resolution);
* meters for the altitude (with no decimals).

The `altitude_frame` specifies the datum for the altitude, among Home, Absolute, Terrain or EKF Origin
(use the enumerator specified in the message definition).

```bash
ros2 service call /ap/rally_set ardupilot_msgs/srv/RallySet "{rally: {altitude_frame: 1, point: {latitude: -35, longitude: 151, altitude: 400}}}"
ros2 service call /ap/rally_set ardupilot_msgs/srv/RallySet "{rally: {altitude_frame: 1, point: {latitude: -35.12345, longitude: 151.12345, altitude: 400.5}}}"

requester: making request: ardupilot_msgs.srv.RallySet_Request(rally=ardupilot_msgs.msg.Rally(point=geographic_msgs.msg.GeoPoint(latitude=-35.0, longitude=151.0, altitude=400.0), altitude_frame=1), clear=False)
requester: making request: ardupilot_msgs.srv.RallySet_Request(rally=ardupilot_msgs.msg.Rally(point=geographic_msgs.msg.GeoPoint(latitude=-35.12345, longitude=151.12345, altitude=400.5), altitude_frame=1), clear=False)

response:
ardupilot_msgs.srv.RallySet_Response(success=True, size=1)
Expand All @@ -315,7 +315,7 @@ ros2 service call /ap/rally_get ardupilot_msgs/srv/RallyGet "index: 0"
requester: making request: ardupilot_msgs.srv.RallyGet_Request(index=0)

response:
ardupilot_msgs.srv.RallyGet_Response(success=True, size=1, rally=ardupilot_msgs.msg.Rally(point=geographic_msgs.msg.GeoPoint(latitude=-35.0, longitude=151.0, altitude=400.0), altitude_frame=1))
ardupilot_msgs.srv.RallyGet_Response(success=True, size=1, rally=ardupilot_msgs.msg.Rally(point=geographic_msgs.msg.GeoPoint(latitude=35.12345504760742, longitude=151.12345176604336, altitude=400.0), altitude_frame=1))
```

## Commanding using ROS 2 Topics
Expand Down

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