AP_DDS: update dds profile, eliminate need for integration service

[srmainwaring]

Use type and service name mapping rules to ensure AP_DDS service calls are automatically mapped between DDS and ROS 2. This eliminates the need to run the eProsima Integration Service to access AP_DDS services from the ROS 2 CLI.

Additionally the arm_motors service has been placed in the ap namespace to be consistent with other topics.

Details

• Use type and topic name mapping rules in the arm_motors service profile.
• Remove the integration service configuration file.
• Update the service section in the README and document the topic and service mapping rules.

Figure: arm_motors service request/response pair with types and names in eProsima fastddsmonitor.

Testing

• Configure for SITL with ./waf configure --board sitl --enable-dds
• Build ./waf build
• Run a SITL session with DDS enabled and use UDP as a transport layer

ros2 launch ardupilot_sitl sitl_dds_udp.launch.py \
transport:=udp4 \
refs:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/dds_xrce_profile.xml \
synthetic_clock:=True \
wipe:=False \
model:=quad speedup:=1 \
slave:=0 \
instance:=0 \
defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_udp.parm \
sim_address:=127.0.0.1 \
master:=tcp:127.0.0.1:5760 \
sitl:=127.0.0.1:5501

• Check services are available

$ ros2 service list                        
/ap/arm_motors

• Run the service example and check output in mavproxy

$ ros2 service call /ap/arm_motors ardupilot_msgs/srv/ArmMotors "{arm: True}"
requester: making request: ardupilot_msgs.srv.ArmMotors_Request(arm=True)

response:
ardupilot_msgs.srv.ArmMotors_Response(result=True)

[Ryanf55]

Tried testing, ran into incomplete build instructions. I ran the waf build, but should I have instread run a colcon build?

Opened up #24885 as a fix for ardupilot_sitl not declaring a runtime dependency on micro_ros_agent.

[arshPratap]

@srmainwaring I have tested the changes on my system and the services are running perfectly..Some minor changes but otherwise looking great
Thanks

[arshPratap]

Lets rename this to arm_motors__rr or something similar.Quite similar to how we do it the topic and data reader/writer profiler names

[srmainwaring]

@arshPratap - I'll make these changes in a follow up PR. Also would like to standardise the node name to lowercase and rename to /ardupilot_dds. There are a few other house-keeping changes as well, so may sweep them up in a PR other stylistic / non-functional edits.

[Ryanf55]

Works now.
Needed to build micro_ros_agent, ardupilot_sitl, and ardupilot_msgs