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ROS Jazzy support #61

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ROS Jazzy support #61

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56984bf
Tools: add ROS 2 jazzy support
pedro-fuoco Nov 7, 2024
6d61254
Tools: update README to follow ArduPilot Wiki
pedro-fuoco Nov 7, 2024
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52 changes: 1 addition & 51 deletions README.md
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Expand Up @@ -19,57 +19,7 @@ The project is adapted from the [`ros_gz_project_template`](https://github.com/g

## Prerequisites

- Install [ROS 2 Humble](https://docs.ros.org/en/humble/index.html)
- Install [Gazebo Harmonic (recommended)](https://gazebosim.org/docs/harmonic) or [Gazebo Garden](https://gazebosim.org/docs/garden)
- Follow the [`Installing Build Dependencies`](https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_DDS#installing-build-dependencies) section of `AP_DDS`'s README

## Install

#### 1. Create a workspace folder

```bash
mkdir -p ~/ros2_ws/src
```

#### 2. Get the project source

```bash
cd ~/ros2_ws
vcs import --input https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/ros2_gz.repos --recursive src
```

#### 3. Set the Gazebo version to Harmonic or Garden:

It is recommended to put this in your `~/.bashrc` or equivalent file.

```bash
export GZ_VERSION=harmonic
```

#### 4. Update ROS dependencies

```bash
cd ~/ros2_ws
source /opt/ros/humble/setup.bash
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -y
```

#### 5. Build

```bash
cd ~/ros2_ws
colcon build
```

#### 6. Test

```bash
source ./install/setup.bash
colcon test --packages-select ardupilot_sitl ardupilot_dds_tests ardupilot_gazebo ardupilot_gz_applications ardupilot_gz_description ardupilot_gz_gazebo ardupilot_gz_bringup
colcon test-result --all --verbose
```
Follow the installation instructions in the [ArduPilot Wiki](https://ardupilot.org/dev/docs/ros2-gazebo.html)
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## Usage

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0 ros2_gz.repos → humble_gz.repos
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0 ros2_gz_macos.repos → humble_gz_macos.repos
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29 changes: 29 additions & 0 deletions jazzy_gz.repos
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@@ -0,0 +1,29 @@
repositories:
ardupilot:
type: git
url: https://github.com/ArduPilot/ardupilot.git
version: master
ardupilot_gazebo:
type: git
url: https://github.com/ArduPilot/ardupilot_gazebo.git
version: ros2
ardupilot_gz:
type: git
url: https://github.com/ArduPilot/ardupilot_gz.git
version: main
ardupilot_sitl_models:
type: git
url: https://github.com/ArduPilot/SITL_Models.git
version: main
micro_ros_agent:
type: git
url: https://github.com/micro-ROS/micro-ROS-Agent.git
version: jazzy
ros_gz:
type: git
url: https://github.com/gazebosim/ros_gz.git
version: jazzy
sdformat_urdf:
type: git
url: https://github.com/ros/sdformat_urdf.git
version: jazzy
37 changes: 37 additions & 0 deletions jazzy_gz_macos.repos
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@@ -0,0 +1,37 @@
repositories:
ardupilot:
type: git
url: https://github.com/ArduPilot/ardupilot.git
version: master
ardupilot_gazebo:
type: git
url: https://github.com/ArduPilot/ardupilot_gazebo.git
version: ros2
ardupilot_gz:
type: git
url: https://github.com/ArduPilot/ardupilot_gz.git
version: main
ardupilot_sitl_models:
type: git
url: https://github.com/ArduPilot/SITL_Models.git
version: main
gps_umd:
type: git
url: https://github.com/swri-robotics/gps_umd.git
version: ros2-devel
micro_ros_agent:
type: git
url: https://github.com/micro-ROS/micro-ROS-Agent
version: jazzy
Comment on lines +22 to +25
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The macOS humble version required a specific branch from your fork @srmainwaring. Can you check if that is still necessary on Jazzy ?

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@Ryanf55 Ryanf55 Nov 8, 2024 •
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I created jazzy and humble branches here. Now, you can edit the ros2_gz.repos directly and backport changes as needed

micro_ros_msgs:
type: git
url: https://github.com/micro-ROS/micro_ros_msgs.git
version: jazzy
ros_gz:
type: git
url: https://github.com/gazebosim/ros_gz.git
version: jazzy
sdformat_urdf:
type: git
url: https://github.com/ros/sdformat_urdf.git
version: jazzy