Issue

#28444

What Changed

• Service /ap/rally_set appends a Rally Point to the list or clears the list (using the clear flag).
  • point: geolocation
  • altitude_frame mandatory, follows enum of AltFrame.
• Replies with:
• success is the action is successful;
• size is the list's size.
• Service /ap/rally_get gets the Rally Point at a given index. Returns:
  • success
  • size is the list's size.
  • rally the rally point as ardupilot_msgs/Rally type.
• New ardupilot_msgs/Rally type is defined, that copies the structure definition in AP_Rally.

Test

Auto Test

colcon test --packages-select ardupilot_dds_tests --event-handlers=console_cohesion+ --pytest-args -k test_rally_point

Manual Test

• run the SITL
• Call the service to clear the rally list ros2 service call /ap/rally_set ardupilot_msgs/srv/RallySet "{clear: true}"
• Open up Mavproxy with map and make sure the rally list is clear.
• Append a new Rally Point: ros2 service call /ap/rally_set ardupilot_msgs/srv/RallySet "{rally: {point: {latitude: -35.36, longitude: 149.17, altitude: 400}}}"
• In mavproxy, update the rally list and make sure the rally point appears on the map

• use the service call to get the Rally at index 0: ros2 service call /ap/rally_get ardupilot_msgs/srv/RallyGet "index: 0"