Ros2 interface additions - extra suggestions

[pedro-fuoco]

Purpose

Suggest minor changes for PR ArduPilot#6343.

Additional notes

I have some extra documentation on tf trees from my GSoC project, but since your PR is focused on documenting AP_DDS I'm not sure if this is this wiki page is adequate for it, what do you think ? @Ryanf55
A possible source of confusion regarding tf trees is that ardupilot_gz launches end up creating two different tf trees.

Theres the ros_gz /gz/tf topic, which I tried to use in GSoC 2023 and failed due to it not following ROS REP 105:

So, in order to have a working tree, robot_state_publisher was used to generate this REP 105 compliant tree:

Which works perfectly when adding cartographer as a map -> odom -> base_link source.

What worries me about putting this in the wiki is that robot_state_publisher depends on the robot_description of each robot, so the picture might be misleading.

[Ryanf55]

Wow, sorry, I never saw this till just now. Looks great. Yea, let's leave the complexify of how to make a working TF tree out for now. I'd like to amend the guides to show screenshots of the trees and how they get build on some of the specific use cases.