ROS Jazzy support #6378

pedro-fuoco · 2024-11-07T05:05:32Z

Purpose

The migraton from ROS humble to ROS Jazzy is pretty trivial in our current setup. Simply checking out to the respective Jazzy branches is enough in linux.

We should support it and provide installation guides to encourage more ROS 2 users to contribute.

PR dependency

pedro-fuoco · 2024-11-07T15:22:12Z

dev/source/docs/ros2-gazebo.rst

+    .. tab:: Jazzy
+
+        .. code-block:: bash
+
+            cd ~/ardu_ws
+            vcs import --input https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/jazzy_gz.repos --recursive src
+
+    .. tab:: Humble
+
+        .. code-block:: bash
+
+            cd ~/ardu_ws
+            vcs import --input https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/humble_gz.repos --recursive src


for ardupilot_gz, we could separate branches Jazzy and Humble, but since most of the development team is still on Humble that might cause headaches syncing the two branches. Simply having two .repos files is proposed instead.

I am happy with either approach. In a few other repos in Github, I started using mergify.io, so the work to maintain multiple branches is very low.

pedro-fuoco · 2024-11-07T15:23:38Z

dev/source/docs/ros2-sitl.rst

+   .. group-tab:: ArduPilot 4.6 and later

      .. code-block:: bash

-        source /opt/ros/humble/setup.bash
+        source /opt/ros/$ROS_DISTRO/setup.bash
        cd ~/ardu_ws/
        colcon build --packages-up-to ardupilot_sitl
        source install/setup.bash
-        ros2 launch ardupilot_sitl sitl_dds_udp.launch.py transport:=udp4 refs:=$(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
-
+        ros2 launch ardupilot_sitl sitl_dds_udp.launch.py transport:=udp4 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

-   .. group-tab:: ArduPilot 4.6 and later
+   .. group-tab:: ArduPilot 4.5

      .. code-block:: bash

-        source /opt/ros/humble/setup.bash
+        source /opt/ros/$ROS_DISTRO/setup.bash
        cd ~/ardu_ws/
        colcon build --packages-up-to ardupilot_sitl
        source install/setup.bash
-        ros2 launch ardupilot_sitl sitl_dds_udp.launch.py transport:=udp4 synthetic_clock:=True wipe:=False model:=quad speedup:=1 slave:=0 instance:=0 defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_udp.parm sim_address:=127.0.0.1 master:=tcp:127.0.0.1:5760 sitl:=127.0.0.1:5501
+        ros2 launch ardupilot_sitl sitl_dds_udp.launch.py transport:=udp4 refs:=$(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
+
+


Changes the tab order so that ArduPilot's newest version appears first. Seems intuitive

Agree on that change! Now that 4.6 is in beta.

pedro-fuoco · 2024-11-07T15:24:17Z

dev/source/docs/ros2.rst

@@ -17,49 +17,59 @@ Prerequisites

 - Learn to use ArduPilot first by following the relevant wiki for `Rover <https://ardupilot.org/rover/index.html>`__, `Copter <https://ardupilot.org/copter/index.html>`__ or `Plane <https://ardupilot.org/plane/index.html>`__.
 - In particular, make sure the vehicle works well in Manual and Autonomous modes like Guided and Auto before trying to use ROS.
- Learn how to use ROS 2 by reading the `beginner tutorials <https://docs.ros.org/en/humble/Tutorials.html>`__.  In the case of a problem with ROS, it is best to ask on ROS community forums first (or google your error).
+- Learn how to use ROS 2 by reading the `beginner tutorials <https://docs.ros.org/en/rolling/Tutorials.html>`__.  In the case of a problem with ROS, it is best to ask on ROS community forums first (or google your error).


Prefer to use ROS Rolling when linking to generic documentation. Since we now support multiple ROS 2 versions.

Yea, can you add a note to select the right version in the dropdown?

pedro-fuoco · 2024-11-07T15:26:17Z

dev/source/docs/ros2.rst

-Before anything else, make sure that you have `sourced your ROS 2 environment <https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#source-the-setup-files>`__
-and check if it is `configured correctly <https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#check-environment-variables>`__.
-
-Finally, ensure you have `set up your ArduPilot build environment <https://ardupilot.org/dev/docs/building-the-code.html#setting-up-the-build-environment>`__.


This is a pain point in the current installation instructions. The ArduPilot build environment should be built inside the ROS 2 workspace. If we tell the user to set it up here it might be confusing. So I moved this instruction further down.

pedro-fuoco · 2024-11-07T15:28:39Z

dev/source/docs/ros2.rst


 .. code-block:: bash

    cd ~/ardu_ws
    sudo apt update
    rosdep update
-    source /opt/ros/humble/setup.bash


This might be unnecessary, the instructions assume that the ROS environment is setup and this is explicitly stated at the start

It is not required for people to add this to your ~/.bashrc. I have tried to make the commands as foolproof as possible, and becuase of that, our support load has decreased a lot.

pedro-fuoco · 2024-11-07T15:34:46Z

@Ryanf55 @srmainwaring let me know what you think

Ryanf55

Nice! A good mix of unrelated improvements and direct instructions for Jazzy. It would be really cool if there was a way in rst to have a dropdown at the top to select your ROS version and Gazebo version, then the rest of the content just updates automatically. Can you take a look to see if there's anything better for this than the tab method?

Ryanf55 · 2024-11-07T22:46:21Z

dev/source/docs/ros2-gazebo.rst

-.. code-block:: bash
+.. tabs::
+
+    .. tab:: Jazzy


Suggested change

.. tab:: Jazzy

.. tab:: ROS 2 Jazzy

Ryanf55 · 2024-11-07T22:46:29Z

dev/source/docs/ros2-gazebo.rst

+            cd ~/ardu_ws
+            vcs import --input https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/jazzy_gz.repos --recursive src
+
+    .. tab:: Humble


Suggested change

.. tab:: Humble

.. tab:: ROS 2 Humble

Ryanf55 · 2024-11-07T22:47:18Z

dev/source/docs/ros2-gazebo.rst

+    .. tab:: Jazzy
+
+        .. code-block:: bash
+
+            cd ~/ardu_ws
+            vcs import --input https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/jazzy_gz.repos --recursive src
+
+    .. tab:: Humble
+
+        .. code-block:: bash
+
+            cd ~/ardu_ws
+            vcs import --input https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/humble_gz.repos --recursive src


I am happy with either approach. In a few other repos in Github, I started using mergify.io, so the work to maintain multiple branches is very low.

Ryanf55 · 2024-11-07T22:48:10Z

dev/source/docs/ros2-gazebo.rst

@@ -40,7 +52,7 @@ Update ROS dependencies:
 .. code-block:: bash

    cd ~/ardu_ws
-    source /opt/ros/humble/setup.bash
+    source /opt/ros/$ROS_DISTRO/setup.bash


Please revert. ROS_DISTRO is not set until AFTER you run this.
Consider doing it like source /opt/ros/<your_ros_distro>/setup.bash

Ryanf55 · 2024-11-07T22:48:39Z

dev/source/docs/ros2-sitl.rst

+   .. group-tab:: ArduPilot 4.6 and later

      .. code-block:: bash

-        source /opt/ros/humble/setup.bash
+        source /opt/ros/$ROS_DISTRO/setup.bash
        cd ~/ardu_ws/
        colcon build --packages-up-to ardupilot_sitl
        source install/setup.bash
-        ros2 launch ardupilot_sitl sitl_dds_udp.launch.py transport:=udp4 refs:=$(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
-
+        ros2 launch ardupilot_sitl sitl_dds_udp.launch.py transport:=udp4 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

-   .. group-tab:: ArduPilot 4.6 and later
+   .. group-tab:: ArduPilot 4.5

      .. code-block:: bash

-        source /opt/ros/humble/setup.bash
+        source /opt/ros/$ROS_DISTRO/setup.bash
        cd ~/ardu_ws/
        colcon build --packages-up-to ardupilot_sitl
        source install/setup.bash
-        ros2 launch ardupilot_sitl sitl_dds_udp.launch.py transport:=udp4 synthetic_clock:=True wipe:=False model:=quad speedup:=1 slave:=0 instance:=0 defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_udp.parm sim_address:=127.0.0.1 master:=tcp:127.0.0.1:5760 sitl:=127.0.0.1:5501
+        ros2 launch ardupilot_sitl sitl_dds_udp.launch.py transport:=udp4 refs:=$(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
+
+


Agree on that change! Now that 4.6 is in beta.

Ryanf55 · 2024-11-07T22:49:03Z

dev/source/docs/ros2.rst

@@ -17,49 +17,59 @@ Prerequisites

 - Learn to use ArduPilot first by following the relevant wiki for `Rover <https://ardupilot.org/rover/index.html>`__, `Copter <https://ardupilot.org/copter/index.html>`__ or `Plane <https://ardupilot.org/plane/index.html>`__.
 - In particular, make sure the vehicle works well in Manual and Autonomous modes like Guided and Auto before trying to use ROS.
- Learn how to use ROS 2 by reading the `beginner tutorials <https://docs.ros.org/en/humble/Tutorials.html>`__.  In the case of a problem with ROS, it is best to ask on ROS community forums first (or google your error).
+- Learn how to use ROS 2 by reading the `beginner tutorials <https://docs.ros.org/en/rolling/Tutorials.html>`__.  In the case of a problem with ROS, it is best to ask on ROS community forums first (or google your error).


Yea, can you add a note to select the right version in the dropdown?

Ryanf55 · 2024-11-07T22:51:13Z

dev/source/docs/ros2.rst


 .. code-block:: bash

    cd ~/ardu_ws
    sudo apt update
    rosdep update
-    source /opt/ros/humble/setup.bash


It is not required for people to add this to your ~/.bashrc. I have tried to make the commands as foolproof as possible, and becuase of that, our support load has decreased a lot.

Ryanf55 · 2024-11-07T22:51:40Z

dev/source/docs/ros2.rst

-    sudo apt install default-jre
+    # Gradle 7.6 is not supported by java versions >= 20
+    # https://docs.gradle.org/current/userguide/compatibility.html
+    sudo apt install openjdk-17-jre 


Is this available on Ubuntu 22?

This was referenced Nov 7, 2024

ROS Jazzy support ArduPilot/ardupilot_gz#61

Draft

Ros jazzy support ArduPilot/ardupilot#28544

Draft

Ros2 interface #6343

Open

ROS Jazzy support

512a6fa

pedro-fuoco force-pushed the ros-jazzy-support branch from 0bcfaad to 512a6fa Compare November 7, 2024 15:30

pedro-fuoco commented Nov 7, 2024

View reviewed changes

Ryanf55 reviewed Nov 7, 2024

View reviewed changes

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

ROS Jazzy support #6378

ROS Jazzy support #6378

pedro-fuoco commented Nov 7, 2024 •

edited

Loading

pedro-fuoco Nov 7, 2024

Ryanf55 Nov 7, 2024

pedro-fuoco Nov 7, 2024

Ryanf55 Nov 7, 2024

pedro-fuoco Nov 7, 2024

Ryanf55 Nov 7, 2024

pedro-fuoco Nov 7, 2024

pedro-fuoco Nov 7, 2024

Ryanf55 Nov 7, 2024

pedro-fuoco commented Nov 7, 2024 •

edited

Loading

Ryanf55 left a comment

Ryanf55 Nov 7, 2024

Ryanf55 Nov 7, 2024

Ryanf55 Nov 7, 2024

Ryanf55 Nov 7, 2024

Ryanf55 Nov 7, 2024

Ryanf55 Nov 7, 2024

Ryanf55 Nov 7, 2024

Ryanf55 Nov 7, 2024

ROS Jazzy support #6378

Are you sure you want to change the base?

ROS Jazzy support #6378

Conversation

pedro-fuoco commented Nov 7, 2024 • edited Loading

Purpose

PR dependency

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

pedro-fuoco commented Nov 7, 2024 • edited Loading

Ryanf55 left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

pedro-fuoco commented Nov 7, 2024 •

edited

Loading

pedro-fuoco commented Nov 7, 2024 •

edited

Loading