Launch Iris: move projects up to main directory

Signed-off-by: Rhys Mainwaring <[email protected]>

README.md

@@ -1 +1,128 @@
-# ardupilot_gz
+# ardupilot_gz
+
+Adapted from the [`ros_gz_project_template`](https://github.com/gazebosim/ros_gz_project_template) project integrating ROS 2 and Gazebo.
+
+## Included packages
+
+* `ardupilot_gz_description` - Contains the sdf description of the simulated
+  system and any other assets.
+
+* `ardupilot_gz_gazebo` - Contains Gazebo specific code and configurations such
+  as system plugins.
+
+* `ardupilot_gz_application` - Contains ROS 2 specific code and configuration.
+
+* `ardupilot_gz_bringup` - Contains launch files and high level utilities.
+
+
+## Install
+
+### Dependencies
+
+1. Install [ROS 2 Humble](https://docs.ros.org/en/humble/index.html)
+
+1. Install [Gazebo Garden](https://gazebosim.org/docs/garden)
+
+1. Install necessary tools
+
+    `sudo apt install python3-vcstool python3-colcon-common-extensions git wget`
+
+### Usage
+
+1. Create a workspace, for example:
+
+    ```
+    mkdir -p ~/ros2_ws/src
+    cd ~/ros2_ws/src
+    ```
+
+1. Clone the project:
+
+    ```
+    TBC
+    ```
+
+1. Set the Gazebo version to Garden:
+
+    ```
+    export GZ_VERSION=garden
+    ```
+
+1. Install ROS dependencies
+
+    ```
+    sudo rosdep init
+    rosdep update
+    rosdep install --from-paths src --ignore-src -r -y -i
+    ```
+
+1. Build and install
+
+    ```
+    cd ~/ros2_ws
+    colcon build --cmake-args -DBUILD_TESTING=ON
+    ```
+
+### Run
+
+1. Source the workspace
+
+    `. ~/ros2_ws/install/setup.sh`
+
+1. Launch the simulation
+
+    `ros2 launch ardupilot_gz_bringup bringup_iris.launch.py`
+
+1. Launch the a GCS
+
+    `mavproxy.py --console --map`
+
+1. Inspect topics
+
+    ```bash
+    $ ros2 topic list
+    /ROS2_BatteryState0
+    /ROS2_NavSatFix0
+    /ROS2_Time
+    /clicked_point
+    /clock
+    /goal_pose
+    /initialpose
+    /iris/odometry
+    /joint_states
+    /parameter_events
+    /robot_description
+    /rosout
+    /tf
+    /tf_static
+    ```
+
+
+## Notes
+
+1. Additional dependency
+
+    `ros_gz` has a dependency on `gps_msgs` included in
+
+    ```bash
+    git clone https://github.com/swri-robotics/gps_umd.git -b ros2-devel
+    ```
+
+    Add `COLCON_IGNORE` to `gpsd_client` as this package is not required and
+    will not build on macOS. 
+
+1. sdformat_urdf
+
+    On macOS the `robot_state_publisher` node cannot load the
+    `sdformat_urdf_plugin` plugin unless the
+    suffix is changed:
+
+    ```bash
+    cd ./install/sdformat_urdf/lib
+    ln -s libsdformat_urdf_plugin.so libsdformat_urdf_plugin.dylib
+    ```
+
+1. Model URIs
+
+    The `<uri>` element must use the `package` prefix for resource to be located
+    by RViz.