From 99810de8cb5454580371c0519a97547e1dae5dfb Mon Sep 17 00:00:00 2001 From: pedro-fuoco Date: Mon, 11 Nov 2024 23:47:26 -0300 Subject: [PATCH 1/3] fix: typo --- dev/source/docs/ros2-interfaces.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/dev/source/docs/ros2-interfaces.rst b/dev/source/docs/ros2-interfaces.rst index 7ee38d5fd4..743f309709 100644 --- a/dev/source/docs/ros2-interfaces.rst +++ b/dev/source/docs/ros2-interfaces.rst @@ -244,6 +244,6 @@ If breaking changes are required, the ArduPilot release notes will make that cle Developers should not expect ABI stability on ``exerimental`` interfaces. Because ArduPilot does not follow the same release timeline as ROS 2, and -the development team for the ROS interface still in its early stages, +the development team for the ROS interface is still in its early stages, ArduPilot does not yet support a stable ABI across multiple ROS distributions. The current ROS version supported is ``humble``. From a203161c59ff750eeb2da7f67dd9a66951912b22 Mon Sep 17 00:00:00 2001 From: pedro-fuoco Date: Tue, 12 Nov 2024 00:21:01 -0300 Subject: [PATCH 2/3] fixup: add missing /ap/pose/filtered topic --- dev/source/docs/ros2-interfaces.rst | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/dev/source/docs/ros2-interfaces.rst b/dev/source/docs/ros2-interfaces.rst index 743f309709..33f7677ae5 100644 --- a/dev/source/docs/ros2-interfaces.rst +++ b/dev/source/docs/ros2-interfaces.rst @@ -70,6 +70,11 @@ Pose, Rates, and Coordinates This is the filtered AHRS's velocity in the local ENU frame relative to home. + ap/pose/filtered + geometry_msgs/msg/PoseStamped + This is the filtered AHRS's pose in the local ENU frame relative to home. + + ap/geopose/filtered geographic_msgs/msg/GeoPoseStamped This is the filtered AHRS's pose (position+orientation) in global coordinates From 809081d063b3ac3c7f0b6ba636c4f8148ddadb6b Mon Sep 17 00:00:00 2001 From: pedro-fuoco Date: Tue, 12 Nov 2024 00:35:39 -0300 Subject: [PATCH 3/3] fixup: add more information about external odometry sources --- dev/source/docs/ros2-interfaces.rst | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/dev/source/docs/ros2-interfaces.rst b/dev/source/docs/ros2-interfaces.rst index 33f7677ae5..fa1e163765 100644 --- a/dev/source/docs/ros2-interfaces.rst +++ b/dev/source/docs/ros2-interfaces.rst @@ -196,6 +196,12 @@ For more information on the coordinate systems used, review `ROS REP-105 +.. warning:: + Only the dynamic transformations on ``/ap/tf`` that have parent_frame ``odom`` and child_frame ``base_link`` are fed into ``AP_VisualOdom``. + Other frame configurations will be gracefully ignored, so feel free to populate this topic with other transforms if that's convenient. + +For more information on how to setup ArduPilot with an external odometry source, +see the :ref:`cartographer SLAM example. Configuring Interfaces at Compile Time ======================================