ArduPilot
AP_DDS: Add waypoint support
Feature request
Is your feature request related to a problem? Please describe.
ROS users would like to send waypoint(s) from a companion computer to ArduPilot and have it follow the waypoints.
Describe the solution you'd like
Follow REP-147, or another commonly adopted formats. Support optionally describing the orientation of the drone at each waypoint, or let the autopilot optimize orientation.
Describe alternatives you've considered
Mavlink currently supports this
Platform [x] All [ ] AntennaTracker [ ] Copter [ ] Plane [ ] Rover [ ] Submarine
Additional context
N/A
Plane is implemented, I could use some help with the other vehicles. They should be pretty easy for a new contributor.
Hello Ryan.
I am a beginner and would like to take this up. Please let me know how I can help.
Plane is implemented, I could use some help with the other vehicles. They should be pretty easy for a new contributor.
Hello Ryan,
I can see that the set_target_location function for a plane is already implemented in AP_ExternalControl_Plane. Is this what we need to implement in other platforms as well?
I have added set_global_location functions similar to AP_ExternalControl_Plane for copter and rover and I have the build and SITL simulation environment configured. How can I test my changes before I create a pull request?
Awesome, great to hear. For testing, have you gone through these tutorials?
- https://ardupilot.org/dev/docs/using-sitl-for-ardupilot-testing.html
- https://ardupilot.org/dev/docs/ros2.html
- https://ardupilot.org/dev/docs/ros2-sitl.html
Once you have done all of those (in order), you can follow the instructions in the original PR for plane and repeat the process to check the Copter does the same behavior.
- https://github.com/ArduPilot/ardupilot/pull/25722#issue-2030071065
If you get stuck, please reach out. Also, if you can, please create a "draft" style pull request with your changes. I can start providing feedback that way.
Many thanks for the contribution!