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AP_DDS: Goal topic publisher #28372

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AP_DDS: Goal topic publisher #28372

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tizianofiorenzani
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@tizianofiorenzani tizianofiorenzani commented Oct 10, 2024 •
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Issue

#28299

What Changed

  • New topic /ap/goal_lla to provide current goal as GeopointStamped.
  • The topic is published only when changed, reliability set to UXR_RELIABILITY_RELIABLE

Semi automatic test

Run the plane SITL

ros2 launch ardupilot_sitl sitl_dds_udp.launch.py model:=plane command:=arduplane defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/models/plane.parm

and then run the test as:

ros2 run ardupilot_dds_tests plane_waypoint_follower

image

SITL

Tested in SITL: sending copter to a waypoint:

image

ros2 topic echo /ap/goal_lla
image

@tizianofiorenzani tizianofiorenzani mentioned this pull request Oct 10, 2024
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@Ryanf55 I set the topic to be published only when changed.

Ryanf55
Ryanf55 requested changes Oct 10, 2024
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Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_goal_lla_msg_received.py Outdated Show resolved Hide resolved
Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_goal_lla_msg_received.py Outdated Show resolved Hide resolved
libraries/AP_DDS/AP_DDS_Client.cpp Outdated Show resolved Hide resolved
libraries/AP_DDS/AP_DDS_Client.cpp Outdated Show resolved Hide resolved
libraries/AP_DDS/AP_DDS_Client.cpp Outdated Show resolved Hide resolved
libraries/AP_DDS/AP_DDS_Client.h Outdated Show resolved Hide resolved
libraries/AP_DDS/AP_DDS_Client.h Outdated Show resolved Hide resolved
@tizianofiorenzani tizianofiorenzani force-pushed the wips/dds-goal-topic branch 2 times, most recently from 4a30ee6 to 41fdc63 Compare October 18, 2024 18:39
Ryanf55
Ryanf55 requested changes Nov 13, 2024
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@tizianofiorenzani
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After applying suggestions, rally point is in Absolute altitude.

image

image

Ryanf55
Ryanf55 reviewed Nov 15, 2024
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Looking great, just need to move the rate to be user configurable like the rest and then I'll approve.

libraries/AP_DDS/AP_DDS_Client.cpp Outdated Show resolved Hide resolved
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@Ryanf55 Ryanf55 Ryanf55 approved these changes

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DevCallTopic Enhancement ROS
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DDS/ROS2
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@tizianofiorenzani @Ryanf55