AP_DDS: Add instructions for running HW test #25594
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Signed-off-by: Ryan Friedman <[email protected]>
| ```bash | ||
| ./waf configure --board Pixhawk6X --enable-dds | ||
| ./waf plane --upload | ||
| mavproxy.py --console |
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Do you need to specify the device, or is this automatic? On macOS I would have to add --master /dev/cu.usbserial-0001 or similar.
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On Linux, it's automatic right now with USB.
| cd /path/to/ros2_ws | ||
| source install/setup.bash | ||
| cd src/ardupilot/libraries/AP_DDS | ||
| ros2 run micro_ros_agent micro_ros_agent serial -b 115200 -r dds_xrce_profile.xml -D /dev/serial/by-id/usb-ArduPilot_Pixhawk6X_210028000151323131373139-if02 |
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If we're assuming that the user has already built the ROS 2 workspace there is also a launch file that may be used to run the micro-ROS agent. We could configure it to find the xrce profile automatically (as it's installed).
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Yea, this README is largely from the perspective that you run waf and ros2 run directly rather than launch because of the process isolation and debugging (ie, swapping out micro ROS agent with serial monitor) with what's written today.
The feature to automatically find the xrce profile sounds like a nice addition that could simplify this workflow and still support debugging. Could we add and document that capability in a separate PR?
Update docs for deploying DDS on hardware like Pixhawk 6X.
Relates to #25535