Ryan

Can you fix the build errors? https://github.com/ArduPilot/ardupilot/actions/runs/8877225483/job/24370361196?pr=26911#step:7:2931

Can you squash the commits together? Each one looks good.

> > Can you squash the commits together? Each one looks good. > > Could do, though I kept them separate on purpose to make it clear what was changing:...

We agreed in dev call a final test on hardware would be a good idea before merging. The plan is this can be backported to 4.5 with the testing complete....

I think the testing Rhys has done is sufficient. Are we ok to merge this so it can be part of 4.5?

Ideally, cover the whole API exposed: ``` ros2 node info /ardupilot_dds /ardupilot_dds Subscribers: /ap/cmd_vel: geometry_msgs/msg/TwistStamped /ap/joy: sensor_msgs/msg/Joy /ap/tf: tf2_msgs/msg/TFMessage Publishers: /ap/battery/battery0: sensor_msgs/msg/BatteryState /ap/clock: rosgraph_msgs/msg/Clock /ap/geopose/filtered: geographic_msgs/msg/GeoPoseStamped /ap/navsat/navsat0: sensor_msgs/msg/NavSatFix /ap/pose/filtered: geometry_msgs/msg/PoseStamped...

Related: https://github.com/eProsima/Micro-XRCE-DDS-Gen/issues/73#issuecomment-1932067847

> > Test hangs locally. When hitting ctrl+c, it will slowly kill all the tests, and then you get info: > > Is it just the new test that is...

> Thanks for assigning this issue to me. I am working on it. Great. Let me know if you get stuck or are ready for a review.

The wiki is very brief: https://ardupilot.org/dev/docs/apmcopter-programming-libraries.html The main interface for GPS is here: https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_GPS/AP_GPS.h This library follows the frontend-backend split. https://ardupilot.org/dev/docs/code-overview-sensor-drivers.html#frontend-backend-split Implementation that all GPS's follow is here: https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_GPS/AP_GPS.cpp GSOF...