Tools: ros2: Improve ability to launch plane in headless mode

[Ryanf55]

Purpose

• Install models for other users such as the plane.parm that SITL launches with for plane
• Fix bool parsing in some launch args such as mavproxy and console

Testing

Create a launch file with the contents;

<?xml version="1.0"?>
<launch>
  <include file="$(find-pkg-share ardupilot_sitl)/launch/sitl_dds_udp.launch.py">
    <arg name="defaults" value="$(find-pkg-share ardupilot_sitl)/config/models/plane.parm"/>
    <arg name="model" value="plane"/>
    <arg name="command" value="arduplane"/>
  </include>
</launch>

ros2 launch your_package your_launch_file.launch.xml \
   refs:=$(pwd)/src/ardupilot/libraries/AP_DDS/dds_xrce_profile.xml \
   map:=True \
   console:=True

Then, change map and console to false and observe them not appear.
The plane should boot up just like sim_vehicle, and be able to use mavproxy.
Mavproxy should show a plane icon.

Issue

Solves #27130

I found this running colcon test and saw a ton of windows popping up.

Follow up

I'd like CMake to install the refs file and default that location so you don't need to specify the refs path when you launch in a directory other than ardupilot.

[srmainwaring]

Looks good. Only question is whether we need the additional JSON files from the directory containing the plane.parm file.

[srmainwaring]

I'd like CMake to install the refs file and default that location so you don't need to specify the refs path when you launch in a directory other than ardupilot.

The DDS refs file is already installed to ./install/ardupilot_sitl/share/ardupilot_sitl/config/dds_xrce_profile.xml. Did you have something else in mind?

[Ryanf55]

Looks good. Only question is whether we need the additional JSON files from the directory containing the plane.parm file.

I wasn't sure. If you think I should leave them out, I'll add a matcher to only copy .parm and .param.

[Ryanf55]

I'd like CMake to install the refs file and default that location so you don't need to specify the refs path when you launch in a directory other than ardupilot.

The DDS refs file is already installed to ./install/ardupilot_sitl/share/ardupilot_sitl/config/dds_xrce_profile.xml. Did you have something else in mind?

No,let me try using that in the launch file.

Without specifying the refs, it fails to boot.

[micro_ros_agent-4] [1716444996.738845] info     | Root.cpp           | create_client            | create                 | client_key: 0xAAAABBBB, session_id: 0x81
[micro_ros_agent-4] [1716444996.738898] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0xAAAABBBB, address: 127.0.0.1:57036
[micro_ros_agent-4] 2024-05-23 06:16:36.739 [XMLPARSER Error] Profile 'participant_profile' not found -> Function fillParticipantAttributes

Once I add this, it works;

  <include file="$(find-pkg-share ardupilot_sitl)/launch/sitl_dds_udp.launch.py">
    <arg name="defaults" value="$(find-pkg-share ardupilot_sitl)/config/models/plane.parm"/>
    <arg name="model" value="plane"/>
    <arg name="command" value="arduplane"/>
    <arg name="refs" value="$(find-pkg-share ardupilot_sitl)/config/dds_xrce_profile.xml"/>
  </include>

Nothing needs to change in this PR, so I think the code is good to go as-is.

[srmainwaring]

I wasn't sure. If you think I should leave them out, I'll add a matcher to only copy .parm and .param

It's good as is.

Nothing needs to change in this PR, so I think the code is good to go as-is.

LGTM. The launch examples at the end of the /Tools/ros2/README use the installed ref files.

[Ryanf55]

@srmainwaring Thoughts on backporting this to 4.5?