https://github.com/arshpratap/ardupilot_ros2

Contains custom ROS-2 messages that correspond to the XRCE topics defined in Ardupilot.
https://github.com/arshpratap/ardupilot_ros2

Last synced: 5 days ago
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Contains custom ROS-2 messages that correspond to the XRCE topics defined in Ardupilot.

• Host: GitHub
• URL: https://github.com/arshpratap/ardupilot_ros2
• Owner: arshPratap
• License: gpl-3.0
• Created: 2021-08-10T23:39:54.000Z (over 3 years ago)
• Default Branch: main
• Last Pushed: 2023-07-17T19:45:47.000Z (over 1 year ago)
• Last Synced: 2024-11-15T09:52:04.642Z (2 months ago)
• Language: CMake
• Homepage:
• Size: 34.2 KB
• Stars: 0
• Watchers: 2
• Forks: 3
• Open Issues: 5
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
### The previous version of the repo has been moved to the [legacy](https://github.com/arshPratap/ardupilot_ros2/tree/legacy/) branch

# ardupilot-ros2

This repository contains ROS-2 packages and yaml files for eProsima's Integration services.

Exact content of this repository are as follows:

- [ap_custom_services](https://github.com/arshPratap/ardupilot_ros2/tree/main/ap_custom_services) : ROS2 services for the following services :

  - [Arming Service](https://github.com/arshPratap/ardupilot_ros2/blob/main/ap_custom_services/srv/ArmMotors.srv) : ROS-2 .srv file for arming the motors

  - [Mode Select](https://github.com/arshPratap/ardupilot_ros2/blob/main/ap_custom_services/srv/ModeSelect.srv) : ROS-2 .srv file for switching between drive modes

## Prerequisites

The following things are required before cloning this repository :

- ROS2 Humble : https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

- Install the DDS Agent you want to use

    - XRCE-DDS Agent : https://micro-xrce-dds.docs.eprosima.com/en/latest/installation.html#installing-the-agent-standalone

    - MicroROS Agent : https://micro.ros.org/docs/tutorials/core/first_application_linux/

## Workspace Setup

Create your own ROS-2 workspace as 

``` 

source /opt/ros/humble/setup.bash

mkdir -p ~/ros_ws/src

cd ~/ros_ws/src

```

For more details regarding a ROS-2 workspace,you can refer this [link](https://docs.ros.org/en/humble/Tutorials/Workspace/Creating-A-Workspace.html) 

## Installation for testing with XRCE-DDS Agent

### Build and Install the Custom Interfaces

```

git clone https://github.com/arshPratap/ardupilot_ros2.git

cd ~/ros_ws

colcon build --packages-select ap_custom_services

```

In a new terminal

```

source /opt/ros/humble/setup.bash

cd ~/ros_ws

. install/setup.bash

ros2 pkg list

```

If everything is done right,you should see **ap_custom_services** listed in the ROS-2 package list