AP_UROS: factor out common ROS client code #25179
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srmainwaring
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Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> modules: update ardupliot_uros - Added mode_switch service interface for esp32 - Added mode_switch service interface for stm32. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
- Add option --enable-uros. - Add define AP_UROS_ENABLED. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Tools: ros2: disable DSS in colcon build Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Tools: ros2: update README Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
AP_UROS: search for micro-ROS client library in ardupilot_uros module Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add vector3 subscriber example - PoC - will only work for SITL / POSIX (must add use custom transport) Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: move init and create code into respective functions - Make rcl objects member variables. - Update checks macros to report to GCS. - Move rcl initialisation to init(). - Move subscriber creation to create(). Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add custom transport - Adapt UDP custom transport from AP_DDS. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: enable custom transport Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add publisher example Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add publisher example - Send message to GCS. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: include additional ROS message types Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add time publisher - Add time publisher. - Rename node to 'ardupilot_uros'. - Change timer period to 1 ms Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add publishers for local pose and twist Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add publishers for battery, clock, nav sat, static tf Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: clarify number of handles calculation Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: implement topic writers using code from AP_DDS - Strings and sequence values are not populated as memory must be allocated. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add code for static transform from AP_DDS - Strings and sequence values are not populated as memory must be allocated. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: manage memory for topic strings and sequences Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: only update nav sat fix on new data to match AP_DDS Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add subscriber to sensor_msgs/msg/Joy Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: remove demo subscriber to geometry_msgs/msg/Vector3 Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: update @todo formatting Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add function declarations for Ubuntu build Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: disable tf2_msgs for esp32 dev Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: move global variables into AP_UROS_Client class - Make singleton. - Make update_topic member function. - Add trampoline for thread task. - Move thread to core 1 and adjust priority. - Customise initialisation. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: fix initialisation of local twist publisher Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: publish geopose, static_tf, and subscribe to tf Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: use trampoline functions for timer and message callbacks Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add arm motors service Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add parameter server Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add README Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: display parameter changes in GCS Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: implementation of custom serial transport - Note this is ESP32 specific. - Requires micro-ROS client library to be built for custom transport. - UART_NUM_2 not managed by AP_HAL - Return if publisher or subscriber initialisation fails Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: call uros_port->begin(0) to ensure thread owns port Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: support build for stm32 - disable param server Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: support both esp32 and stm32 Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add compile option for param server Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: update macros for debug and error messages Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: fix bug introduced into entity handle count Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: update print format specifier for TF message Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: enable UDP transport for SITL Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: update print format specifier for TF message Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add microros library distro options to wscript Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: fix library paths in wscript Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add stubs for mode switch service Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: implement arming service Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: implement mode switch service Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add stub for velocity control subscriber Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add classes adapted from AP_DDS to manage external control - Functions are stubs only. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: adapt external control functions to micro-ROS message types Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: enable external odom in uros client Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: update GCS messages for services - Add UROS: prefix. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: update README Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_ROS: add space after template keyword Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_ROS: add accessor templates for strings and a sequence of transforms Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_ROS: use accessor templates for strings in external control Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_ROS: add mutable versions of accessor templates Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_ROS: consolidate code for populating published messages Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_ROS: consolidate code for publishing nav sat fix Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_ROS: rename mutable transforms Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_ROS: use mutable transforms template for static transforms Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_ROS: fix formatting Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_ROS: add accessor templates for battery state Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_ROS: consolidate code for publishing battery state Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add specialisations for string and sequence accessors Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: adjust indentation Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add mutable versions of accessor templates Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: use common code from AP_ROS for published topics Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: consolidate code for publishing nav sat fix Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: delete code moved to AP_ROS Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: rename mutable transforms Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: consolidate code for publishing static transforms Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: move template specialisation definitions to cpp to prevent duplicate symbols Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_UROS: add accessor templates for battery state Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_DDS: use common code from AP_ROS for external control Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_DDS: use common code from AP_ROS for time type conversion Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_DDS: add mutable versions of accessor templates Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_DDS: use common code from AP_ROS for published topics Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_DDS: consolidate code for publishing nav sat fix Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_DDS: delete code moved to AP_ROS Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_DDS: rename mutable transforms Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_DDS: consolidate code for publishing static transforms Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_DDS: move template specialisation definitions to cpp to prevent duplicate symbols Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_DDS: fix formatting Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_DDS: add accessor templates for battery state Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_DDS: consolidate code for publishing battery state Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
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This is a follow up to #25154 that factors duplicate code from
AP_DDSandAP_UROSinto a common libraryAP_ROS.The functions are templated on the ROS message types because the ROS message interfaces generated for the XRCE-DDS-Client and micro-ROS are not the same. The method names are almost identical so templating allows the reading and writing to the message libraries to be duck-typed with the exception of string and sequences. These are handled by templated accessors with specialisations for the message types that are required (
String,TFMessage,BatteryState).Dependencies