AP_UROS: add micro-ROS client

.gitmodules

@@ -39,3 +39,6 @@
 	path = modules/Micro-CDR
 	url = https://github.com/ardupilot/Micro-CDR.git
 	branch = master
+[submodule "modules/ardupilot_uros"]
+	path = modules/ardupilot_uros
+	url = https://github.com/srmainwaring/ardupilot_uros.git

Tools/ardupilotwaf/ardupilotwaf.py

@@ -138,6 +138,7 @@ def get_legacy_defines(sketch_name, bld):
     'doc',
     'AP_Scripting', # this gets explicitly included when it is needed and should otherwise never be globbed in
     'AP_DDS',
+    'AP_UROS',
 ]
 
 

Tools/ardupilotwaf/boards.py

@@ -84,6 +84,18 @@ def srcpath(path):
             env.ENABLE_DDS = False
             env.DEFINES.update(AP_DDS_ENABLED = 0)
 
+        # configurations for UROS
+        if cfg.options.enable_uros:
+            cfg.recurse('libraries/AP_UROS')
+            env.ENABLE_UROS = True
+            env.AP_LIBRARIES += [
+                'AP_UROS'
+            ]
+            env.DEFINES.update(AP_UROS_ENABLED = 1)
+        else:
+            env.ENABLE_UROS = False
+            env.DEFINES.update(AP_UROS_ENABLED = 0)
+
         # setup for supporting onvif cam control
         if cfg.options.enable_onvif:
             cfg.recurse('libraries/AP_ONVIF')

Tools/autotest/sim_vehicle.py

@@ -411,6 +411,9 @@ def do_build(opts, frame_options):
     if opts.enable_dds:
         cmd_configure.append("--enable-dds")
 
+    if opts.enable_uros:
+        cmd_configure.append("--enable-uros")
+
     pieces = [shlex.split(x) for x in opts.waf_configure_args]
     for piece in pieces:
         cmd_configure.extend(piece)
@@ -1326,6 +1329,8 @@ def generate_frame_help():
                      help="IP address of the simulator. Defaults to localhost")
 group_sim.add_option("--enable-dds", action='store_true',
                      help="Enable the dds client to connect with ROS2/DDS")
+group_sim.add_option("--enable-uros", action='store_true',
+                     help="Enable the micro-ros client to connect with ROS2/DDS")
 
 parser.add_option_group(group_sim)
 

Tools/ros2/README.md

@@ -239,8 +239,28 @@ master:=tcp:127.0.0.1:5760 \
 sitl:=127.0.0.1:5501
 ```
 
-UDP version
+### DDS UDP version
 
-```
+```bash
 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,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_udp.parm sim_address:=127.0.0.1 master:=tcp:127.0.0.1:5760 sitl:=127.0.0.1:5501
 ```
+
+### UROS UDP
+
+Launch agent:
+
+```bash
+ros2 launch ardupilot_sitl micro_ros_agent.launch.py transport:=udp4 port:=2019 verbose:=6
+```
+
+Launch SITL:
+
+```bash
+ros2 launch ardupilot_sitl sitl.launch.py synthetic_clock:=True wipe:=False model:=quad speedup:=1 slave:=0 instance:=0 defaults:=$(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
+```
+
+Launch non-interactive MAVProxy:
+
+```bash
+ros2 launch ardupilot_sitl mavproxy.launch.py master:=tcp:127.0.0.1:5760 sitl:=127.0.0.1:5501
+```

Tools/ros2/ardupilot_sitl/CMakeLists.txt

@@ -24,12 +24,12 @@ message(STATUS "WAF_COMMAND: ${WAF_COMMAND}")
 set(WAF_CONFIG $<$<OR:$<CONFIG:Debug>,$<CONFIG:RelWithDebInfo>>:"--debug">)
 
 add_custom_target(ardupilot_configure ALL
-  ${WAF_COMMAND} configure --board sitl --enable-dds ${WAF_CONFIG}
+  ${WAF_COMMAND} configure --board sitl --enable-uros ${WAF_CONFIG}
   WORKING_DIRECTORY ${ARDUPILOT_ROOT}
 )
 
 add_custom_target(ardupilot_build ALL
-  ${WAF_COMMAND} build --enable-dds ${WAF_CONFIG}
+  ${WAF_COMMAND} build --enable-uros ${WAF_CONFIG}
   WORKING_DIRECTORY ${ARDUPILOT_ROOT}
 )
 add_dependencies(ardupilot_build ardupilot_configure)