Copter: add bring-up and launch for Iris (#1)

* Launch Iris: initial version of ardupilot_gz - Adapted from https://github.com/gazebosim/ros_gz_project_template. - Change project names. - Update dependencies. - Update README. - Update launch for macOS (separate server and gui for Gazebo). - Update maintainer details. Signed-off-by: Rhys Mainwaring <[email protected]> * Launch Iris: rename diff drive bridge yaml, remove extra clock entry Signed-off-by: Rhys Mainwaring <[email protected]> * Launch Iris: add bringup for iris quadcopter - Shorten name in interface to iris. Signed-off-by: Rhys Mainwaring <[email protected]> * Launch Iris: add lift-drag and ardupilot plugins to example Signed-off-by: Rhys Mainwaring <[email protected]> * Launch Iris: enable static code checks - Enable static code checks in ardupilot_gz_gazebo - Enable static code checks in ardupilot_gz_description - Run all common linters. - Enable static code checks in ardupilot_gz_bringup - Apply flake8 extend-ignore. - Format launch files with black. - Apply common linters. Enable static code checks in ardupilot_gz_application Signed-off-by: Rhys Mainwaring <[email protected]> * Launch Iris: add iris bringup launch - Compose the SITL and microROS agent launch with Gazebo and Rviz. Signed-off-by: Rhys Mainwaring <[email protected]> * Launch Iris: update README Signed-off-by: Rhys Mainwaring <[email protected]> * Launch Iris: move projects up to main directory Signed-off-by: Rhys Mainwaring <[email protected]>
ArduPilot · Apr 16, 2023 · 2e40090 · 2e40090
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diff --git a/README.md b/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.
diff --git a/ardupilot_gz_application/.flake8 b/ardupilot_gz_application/.flake8
@@ -0,0 +1,10 @@
+[flake8]
+# Match black line length (default 88).
+max-line-length = 88
+# Match black configuration where there are conflicts.
+extend-ignore = 
+  # Q000: Double quotes found but single quotes preferred
+  Q000,
+  # W503: Line break before binary operator
+  W503
+
diff --git a/ardupilot_gz_application/CMakeLists.txt b/ardupilot_gz_application/CMakeLists.txt
@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.5)
+project(ardupilot_gz_application)
+
+# --------------------------------------------------------------------------- #
+# Find dependencies.
+find_package(ament_cmake REQUIRED)
+
+# --------------------------------------------------------------------------- #
+# Build tests
+
+if(BUILD_TESTING)
+  # Override default flake8 configuration.
+  set(ament_cmake_flake8_CONFIG_FILE ${CMAKE_SOURCE_DIR}/.flake8)
+
+  # Add linters.
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+# --------------------------------------------------------------------------- #
+# Call last.
+
+ament_package()
diff --git a/ardupilot_gz_application/package.xml b/ardupilot_gz_application/package.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ardupilot_gz_application</name>
+  <version>0.0.0</version>
+  <description>Application code for `ardupilot_gz`.</description>
+  <maintainer email="[email protected]">Rhys Mainwaring</maintainer>
+  <license>GPL-3.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
+
diff --git a/ardupilot_gz_bringup/.flake8 b/ardupilot_gz_bringup/.flake8
@@ -0,0 +1,10 @@
+[flake8]
+# Match black line length (default 88).
+max-line-length = 88
+# Match black configuration where there are conflicts.
+extend-ignore = 
+  # Q000: Double quotes found but single quotes preferred
+  Q000,
+  # W503: Line break before binary operator
+  W503
+
diff --git a/ardupilot_gz_bringup/CMakeLists.txt b/ardupilot_gz_bringup/CMakeLists.txt
@@ -0,0 +1,40 @@
+cmake_minimum_required(VERSION 3.5)
+project(ardupilot_gz_bringup)
+
+# --------------------------------------------------------------------------- #
+# Find dependencies.
+find_package(ament_cmake REQUIRED)
+
+# --------------------------------------------------------------------------- #
+#  Install.
+
+# Install project launch files.
+install(
+  DIRECTORY
+    launch/
+  DESTINATION share/${PROJECT_NAME}/launch
+)
+
+# Install project configuration files.
+install(
+  DIRECTORY
+    config/
+  DESTINATION share/${PROJECT_NAME}/config
+)
+
+# --------------------------------------------------------------------------- #
+#  Build tests.
+
+if(BUILD_TESTING)
+  # Override default flake8 configuration.
+  set(ament_cmake_flake8_CONFIG_FILE ${CMAKE_SOURCE_DIR}/.flake8)
+
+  # Add linters.
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+# --------------------------------------------------------------------------- #
+#  Call last.
+
+ament_package()