Tools: add ROS 2 launch file for eProsima integration service

[srmainwaring]

Add ROS 2 launch file for eProsima integration service

Dependencies

• Tools: add custom ROS 2 messages and service interfaces #8

Usage

Checkout the additional repos specified in ./Tools/ros2/ros_repos

$ cd ~/ros2_ws/src
$ wget https://raw.githubusercontent.com/ArduPilot/ardupilot/master/Tools/ros2/ros2.repos
$ vcs import --recursive < ros2.repos

$ cd ~/ros2_ws
$ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DMIX_ROS_PACKAGES=ardupilot_msgs

You may need to source ./install/setup.bash after building ardupilot_msgs since is-ros2-mix-generator does not have an explicit dependency on ardupilot_msgs in the package xml.

Launch the integration service:

$ cd ~/ros2_ws
$ source ./install/setup.bash
$ ros2 launch ardupilot_sitl integration_service.launch.py config_file:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/Arm_Motors_DDS_IS_config.yaml is_prefix_path:=$(pwd)/install/is-ros2/lib/is/ros2:$(pwd)/install/is-ros2-mix-generator/lib:$(pwd)/install/is-fastdds/lib

Check nodes:

$ ros2 node list
/Ardupilot_DDS_XRCE_Client
/is_ros2_node_1804289383

Check services:

 ros2 service list -t
/arm_motors [ardupilot_msgs/srv/ArmMotors]
/is_ros2_node_1804289383/describe_parameters [rcl_interfaces/srv/DescribeParameters]
/is_ros2_node_1804289383/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
/is_ros2_node_1804289383/get_parameters [rcl_interfaces/srv/GetParameters]
/is_ros2_node_1804289383/list_parameters [rcl_interfaces/srv/ListParameters]
/is_ros2_node_1804289383/set_parameters [rcl_interfaces/srv/SetParameters]
/is_ros2_node_1804289383/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]

Call arming service:

$ ros2 service call /arm_motors ardupilot_msgs/srv/ArmMotors "{arm: 1}"
waiting for service to become available...
requester: making request: ardupilot_msgs.srv.ArmMotors_Request(arm=True)

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

[arshPratap]

thanks @srmainwaring ! Have merged them in !