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Improve ROS2 docs #5628

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Improve ROS2 docs #5628

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Improve ROS2 docs
Ryanf55 Dec 6, 2023
87afee9
Fix invalid links and ArduPilot capitalization
Ryanf55 Dec 6, 2023
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11 changes: 2 additions & 9 deletions dev/source/docs/ros2-cartographer-slam.rst
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Expand Up @@ -4,7 +4,7 @@
Cartographer SLAM with ROS 2 in SITL
====================================

This page shows how to setup ROS 2 with Ardupilot SITL and run Google Cartographer as a SLAM source.
This page shows how to setup ROS 2 with ArduPilot SITL and run Google Cartographer as a SLAM source.

Installation
============
Expand Down Expand Up @@ -50,17 +50,10 @@ In another terminal, run:
source ~/ros2_ws/install/setup.sh
ros2 launch ardupilot_ros cartographer.launch.py

To test and fly around, you can launch a `mavproxy <https://ardupilot.org/dev/docs/copter-sitl-mavproxy-tutorial.html>`__ instance in yet another terminal:

.. code-block:: bash

mavproxy.py --console --map --aircraft test --master=:14550


Configure ArduPilot
===================

If you'd like to get the information from Cartographer to go into Ardupilot's extended kalman filter, you will need to change some parameters, you can do that through any GCS, including mavproxy:
If you'd like to get the information from Cartographer to go into ArduPilot's extended kalman filter, you will need to change some parameters, you can do that through any GCS, including mavproxy:

- :ref:`AHRS_EKF_TYPE <copter:AHRS_EKF_TYPE>` = 3 to use EKF3
- :ref:`EK2_ENABLE <copter:EK2_ENABLE>` = 0 to disable EKF2
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24 changes: 15 additions & 9 deletions dev/source/docs/ros2-gazebo.rst
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ROS 2 with Gazebo
=================

Once ROS2 is correctly :ref:`installed <ros2>` and running :ref:`sitl <ros2-sitl>`, we can integrate Ardupilot with Gazebo.
Once ROS2 is correctly :ref:`installed <ros2>` and running :ref:`SITL <ros2-sitl>`, we can integrate ArduPilot with Gazebo.

First, `install Gazebo Garden <https://gazebosim.org/docs/garden/install>`.
First, `install Gazebo Garden <https://gazebosim.org/docs/garden/install>`__.

Next, set up all the necessary ROS 2 packages in the workspace.

We will clone the required repositories using `vcstool <https://github.com/dirk-thomas/vcstool>` and a `ros2.repos` files:
We will clone the required repositories using `vcstool <https://github.com/dirk-thomas/vcstool>`__ and a `ros2.repos` files:

.. code-block:: bash

cd ~/ros2_ws/src
cd ~/ros2_ws
wget https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/ros2_gz.repos
vcs import --recursive < ros2_gz.repos
vcs import --recursive src < ros2_gz.repos

Set the gazebo version

Expand All @@ -32,14 +32,14 @@ Update ROS dependencies:
source /opt/ros/humble/setup.bash
sudo apt update
rosdep update
rosdep install --rosdistro $ROS_DISTRO --from-paths src -i -r -y
rosdep install --from-paths src --ignore-src -r

Build:

.. code-block:: bash

cd ~/ros2_ws
colcon build --packages-up-to ardupilot_gz_bringup --cmake-args -DBUILD_TESTING=ON
colcon build --packages-up-to ardupilot_gz_bringup

If you'd like to test your installation, run:

Expand Down Expand Up @@ -74,7 +74,13 @@ Examples available

ros2 launch ardupilot_gz_bringup iris_maze.launch.py

Here is a demo video of Ardupilot working with ROS 2 and Gazebo:
Here is a demo video of ArduPilot working with ROS 2 and Gazebo:

.. youtube:: HZKXrSAE-ac
:width: 100%
:width: 100%


Next up
=======

Run Cartographer SLAM in :ref:`Cartographer SLAM with ROS 2 in SITL <ros2-cartographer-slam>`
22 changes: 20 additions & 2 deletions dev/source/docs/ros2-sitl.rst
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ROS 2 with SITL
===============

Once ROS2 is correctly :ref:`installed <ros2>`, and SITL is also :ref:`installed <sitl-simulator-software-in-the-loop>`, source your workspace and launch Ardupilot SITL with ROS 2!
Once ROS2 is correctly :ref:`installed <ros2>`, and SITL is also :ref:`installed <sitl-simulator-software-in-the-loop>`, source your workspace and launch ArduPilot SITL with ROS 2!

.. code-block:: bash

Expand All @@ -25,7 +25,10 @@ If the ROS 2 topics aren't being published, set the ardupilot parameter DDS_ENAB

For more information refer to `ardupilot/Tools/ros2/README.md <https://github.com/ArduPilot/ardupilot/tree/master/Tools/ros2#readme>`__. There you can find examples of launches using serial connection instead of udp, as well as a step-by-step breakdown of what the launch files are doing.

Once everything is running, you can now interract with ArduPilot through the ROS 2 CLI.
ROS 2 CLI
=========

Once everything is running, you can now interact with ArduPilot through the ROS 2 CLI.

.. code-block:: bash

Expand All @@ -36,3 +39,18 @@ Once everything is running, you can now interract with ArduPilot through the ROS
ros2 node info /ardupilot_dds
# Echo a topic published from ArduPilot
ros2 topic echo /ap/geopose/filtered

MAVProxy
========

To test and fly around, you can launch a `mavproxy <https://ardupilot.org/dev/docs/copter-sitl-mavproxy-tutorial.html>`__ instance in yet another terminal:

.. code-block:: bash

mavproxy.py --console --map --aircraft test --master=:14550


Next up
=======

Add Gazebo in :ref:`ROS 2 with Gazebo <ros2-gazebo>`
4 changes: 2 additions & 2 deletions dev/source/docs/ros2.rst
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Expand Up @@ -9,7 +9,7 @@ ROS 2

ArduPilot capabilities can be extended with `ROS <http://www.ros.org/>`__ (aka Robot Operating System).

`ROS <http://www.ros.org/>`__ provides libraries, tools, hardware abstraction, device drivers, visualizers, message-passing, package management, and more to help software developers create robot applications. ROS has been superseded by `ROS2 <http://design.ros2.org/articles/why_ros2.html>`__, and Ardupilot now natively supports it through its library `AP_DDS <https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_DDS>`__.
`ROS <http://www.ros.org/>`__ provides libraries, tools, hardware abstraction, device drivers, visualizers, message-passing, package management, and more to help software developers create robot applications. ROS has been superseded by `ROS2 <http://design.ros2.org/articles/why_ros2.html>`__, and ArduPilot now natively supports it through its library `AP_DDS <https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_DDS>`__.


Prerequisites
Expand Down Expand Up @@ -58,7 +58,7 @@ And finally, build your workspace:
.. code-block:: bash

cd ~/ros2_ws
colcon build --packages-up-to ardupilot_dds_tests --cmake-args -DBUILD_TESTING=ON
colcon build --packages-up-to ardupilot_dds_tests

If you'd like to test your installation, run:

Expand Down