arshPratap/ardupilot_ros2

Contains custom ROS-2 messages that correspond to the XRCE topics defined in Ardupilot.

The previous version of the repo has been moved to the 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 : ROS2 services for the following services :
  • Arming Service : ROS-2 .srv file for arming the motors
  • Mode Select : 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

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