Tools: ros2: remove dds_xrce_profile.xml

Signed-off-by: Rhys Mainwaring <[email protected]>
ArduPilot · May 23, 2024 · a7ea57d · a7ea57d
1 parent 90794f3
commit a7ea57d
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Showing 5 changed files with 3 additions and 26 deletions.
diff --git a/Tools/ros2/README.md b/Tools/ros2/README.md
@@ -191,7 +191,7 @@ socat -d -d pty,raw,echo=0,link=./dev/ttyROS0 pty,raw,echo=0,link=./dev/ttyROS1
 ```
 
 ```bash
-ros2 run micro_ros_agent micro_ros_agent serial --baudrate 115200 --dev ./dev/ttyROS0 --refs $(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/dds_xrce_profile.xml
+ros2 run micro_ros_agent micro_ros_agent serial --baudrate 115200 --dev ./dev/ttyROS0
 ```
 
 ```bash
@@ -209,7 +209,7 @@ ros2 launch ardupilot_sitl virtual_ports.launch.py tty0:=./dev/ttyROS0 tty1:=./d
 ```
 
 ```bash
-ros2 launch ardupilot_sitl micro_ros_agent.launch.py transport:=serial refs:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/dds_xrce_profile.xml baudrate:=115200 device:=./dev/ttyROS0
+ros2 launch ardupilot_sitl micro_ros_agent.launch.py transport:=serial baudrate:=115200 device:=./dev/ttyROS0
 ```
 
 ```bash
@@ -229,7 +229,6 @@ tty0:=./dev/ttyROS0 \
 tty1:=./dev/ttyROS1 \
 \
 transport:=serial \
-refs:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/dds_xrce_profile.xml \
 baudrate:=115200 \
 device:=./dev/ttyROS0 \
 \
@@ -250,5 +249,5 @@ sitl:=127.0.0.1:5501
 UDP version
 
 ```
-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
 ```
diff --git a/Tools/ros2/ardupilot_dds_tests/config/ardupilot_dds.yaml b/Tools/ros2/ardupilot_dds_tests/config/ardupilot_dds.yaml
@@ -3,7 +3,6 @@
     middleware: dds
     serial_baud: 115200
     serial_device: ./dev/ttyROS0
-    refs_file: ./src/ardupilot/libraries/AP_DDS/dds_xrce_profile.xml
 
 /ardupilot:
     sim_vehicle_cmd: ./src/ardupilot/Tools/autotest/sim_vehicle.py

diff --git a/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/conftest.py b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/conftest.py
@@ -74,13 +74,6 @@ def micro_ros_agent_serial(device_dir):
         LaunchDescriptionSource(mra_ld),
         launch_arguments={
             "transport": "serial",
-            "refs": PathJoinSubstitution(
-                [
-                    FindPackageShare("ardupilot_sitl"),
-                    "config",
-                    "dds_xrce_profile.xml",
-                ]
-            ),
             "baudrate": "115200",
             "device": str(tty0),
         }.items(),
@@ -97,13 +90,6 @@ def micro_ros_agent_udp():
         LaunchDescriptionSource(mra_ld),
         launch_arguments={
             "transport": "udp4",
-            "refs": PathJoinSubstitution(
-                [
-                    FindPackageShare("ardupilot_sitl"),
-                    "config",
-                    "dds_xrce_profile.xml",
-                ]
-            ),
         }.items(),
     )
     yield ld, mra_actions

diff --git a/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/param_loader_wip.py b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/param_loader_wip.py
@@ -24,7 +24,6 @@
 #         # default params
 #         self.mra_serial_device = f"./dev/ttyROS0"
 #         self.mra_serial_baud = 115200
-#         self.mra_refs_file = "dds_xrce_profile.xml"
 #
 #         self.ap_sim_vehicle_cmd = "sim_vehicle.py"
 #         self.ap_serial_device = f"./dev/ttyROS1"

diff --git a/Tools/ros2/ardupilot_sitl/CMakeLists.txt b/Tools/ros2/ardupilot_sitl/CMakeLists.txt
@@ -81,12 +81,6 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}/
 )
 
-# Install DDS profile.
-install(FILES
-  ${ARDUPILOT_ROOT}/libraries/AP_DDS/dds_xrce_profile.xml
-  DESTINATION share/${PROJECT_NAME}/config
-)
-
 # Install additional default params.
 install(DIRECTORY
   config/default_params