Add missing sitl setup and packages up to

dev/source/docs/ros2-gazebo.rst

@@ -39,7 +39,7 @@ Build:
 .. code-block:: bash
 
     cd ~/ros2_ws
-    colcon build --cmake-args -DBUILD_TESTING=ON
+    colcon build --packages-up-to ardupilot_gz_bringup --cmake-args -DBUILD_TESTING=ON 
 
 If you'd like to test your installation, run:
 

dev/source/docs/ros2-sitl.rst

@@ -4,20 +4,35 @@
 ROS 2 with SITL
 ===============
 
-Once ROS2 is correctly :ref:`installed <ros2>`, source your workspace and launch Ardupilot SITL with ROS 2! 
+Once ROS2 is correctly :ref:`installed <ros2>`, and SITL is also :ref:`installed <sitl-simulator-software-in-the-loop>`, source your workspace and launch Ardupilot SITL with ROS 2!
 
 .. code-block:: bash
 
+    source /opt/ros/humble/setup.bash
+    cd ~/ros2_ws/
+    colcon build --packages-up-to ardupilot_sitl
     source ~/ros2_ws/install/setup.bash
     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
 
-If the ROS 2 topics aren't being published, set the ardupilot parameter DDS_ENABLE to 1 manually and reboot the launch
+If the ROS 2 topics aren't being published, set the ardupilot parameter DDS_ENABLE to 1 manually and reboot the launch.
 
 .. code-block:: bash
-    
+
     export PATH=$PATH:~/ros2_ws/src/ardupilot/Tools/autotest
     sim_vehicle.py -w -v ArduPlane --console -DG --enable-dds
 
     param set DDS_ENABLE 1
 
-For more information refer to `ardupilot/Tools/ros2/README.md <https://github.com/ArduPilot/ardupilot/tree/master/Tools/ros2#readme>`__. There you can find examples of launches using serial connection instead of udp, as well as a step-by-step breakdown of what the launch files are doing.
+For more information refer to `ardupilot/Tools/ros2/README.md <https://github.com/ArduPilot/ardupilot/tree/master/Tools/ros2#readme>`__. There you can find examples of launches using serial connection instead of udp, as well as a step-by-step breakdown of what the launch files are doing.
+
+Once everything is running, you can now interract with ArduPilot through the ROS 2 CLI.
+
+.. code-block:: bash
+
+    source ~/ros2_ws/install/setup.bash
+    # See the node appear in the ROS graph
+    ros2 node list
+    # See which topics are exposed by the node
+    ros2 node info /ardupilot_dds
+    # Echo a topic published from ArduPilot
+    ros2 topic echo /ap/geopose/filtered

dev/source/docs/ros2.rst

@@ -9,7 +9,7 @@ ROS 2
 
 ArduPilot capabilities can be extended with `ROS <http://www.ros.org/>`__ (aka Robot Operating System).
 
-`ROS <http://www.ros.org/>`__ provides libraries, tools, hardware abstraction, device drivers, visualizers, message-passing, package management, and more to help software developers create robot applications. ROS has been succeded by `ROS2 <http://design.ros2.org/articles/why_ros2.html>`__, and Ardupilot now natively supports it through its library `AP_DDS <https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_DDS>`__
+`ROS <http://www.ros.org/>`__ provides libraries, tools, hardware abstraction, device drivers, visualizers, message-passing, package management, and more to help software developers create robot applications. ROS has been superseded by `ROS2 <http://design.ros2.org/articles/why_ros2.html>`__, and Ardupilot now natively supports it through its library `AP_DDS <https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_DDS>`__.
 
 
 Prerequisites
@@ -18,13 +18,15 @@ Prerequisites
 - Learn on to use ArduPilot first by following the relevant wiki for `Rover <https://ardupilot.org/rover/index.html>`__, `Copter <https://ardupilot.org/copter/index.html>`__ or `Plane <https://ardupilot.org/plane/index.html>`__. In particular, make sure the vehicle works well in Manual and Autonomous modes like Guided and Auto before trying to use ROS.
 - Learn how to use ROS 2 by reading the `beginner tutorials <https://docs.ros.org/en/humble/Tutorials.html>`__.  In the case of a problem with ROS, it is best to ask on ROS community forums first (or google your error).
 
-    We are keen to improve ArduPilot's support of ROS 2 so if you find issues (such as commands that do not seem to be supported), please report them in the `ArduPilot issues list <https://github.com/ArduPilot/ardupilot/issues>`__ with a title 
+    We are keen to improve ArduPilot's support of ROS 2 so if you find issues (such as commands that do not seem to be supported), please report them in the `ArduPilot issues list <https://github.com/ArduPilot/ardupilot/issues>`__. A maintainer can add the `ROS` tag.
 
-First, make sure that you have succesfully installed `ROS humble <https://docs.ros.org/en/humble/Installation.html>`__ and create a `ROS 2 workspace <https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html#id4>`__. This page assumes that your workspace is named `ros2_ws`
+First, make sure that you have successfully installed `ROS humble <https://docs.ros.org/en/humble/Installation.html>`__ and create a `ROS 2 workspace <https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html#id4>`__. This page assumes that your workspace is named `ros2_ws`.
 
 Before anything else, make sure that you have `sourced your ROS 2 environment <https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#source-the-setup-files>`__ and check if it is `configured correctly <https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#check-environment-variables>`__.
 
-Finally, follow the `Installing Build Dependencies <https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_DDS#installing-build-dependencies>`__ section of `AP_DDS`'s README
+Follow the `Installing Build Dependencies <https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_DDS#installing-build-dependencies>`__ section of `AP_DDS`'s README.
+
+Finally, ensure you have `set up your ArduPilot build environment <https://ardupilot.org/dev/docs/building-the-code.html#setting-up-the-build-environment>`__.
 
 Installation (Ubuntu)
 =====================
@@ -44,14 +46,15 @@ Now update all dependencies:
     cd ~/ros2_ws
     sudo apt update
     rosdep update
-    rosdep install --rosdistro ${ROS_DISTRO} --from-paths src -i
+    source /opt/ros/humble/setup.bash
+    rosdep install --from-paths src --ignore-src
 
 And finally, build your workspace:
 
 .. code-block:: bash
 
     cd ~/ros2_ws
-    colcon build --cmake-args -DBUILD_TESTING=ON
+    colcon build --packages-up-to ardupilot_dds_tests --cmake-args -DBUILD_TESTING=ON
 
 If you'd like to test your installation, run:
 
@@ -134,17 +137,17 @@ Build the container:
 Start the container in interactive mode:
 
 .. code-block:: bash
-    
+
     docker run -it --name ardupilot-dds ardupilot/ardupilot-dev-ros
 
 Connect another bash process to the running container:
 
 .. code-block:: bash
-    
+
     docker container exec -it ardupilot-dds /bin/bash
 
 The remaining steps are the same as for Ubuntu. You may need to install MAVProxy if it is not available on the container.
 
 .. code-block:: bash
-    
-    pip install -U MAVProxy
+
+    pip install -U MAVProxy