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Ardupilot for ROS2 in Docker

This rep is to proivde a development environment using PX4-Gazebo in Docker that is compataible with ROS2 Humble.

1. Setup Ardupilot with ROS2

1.1 build ROS2 pkgs for Ardupilot

This is developed in a Docker container with humble with the working space being set as ros2_ws.

Step 1. get micro-ROS-Agent

    cd ros2_ws/src
    git clone --recursive -b humble https://github.com/micro-ROS/micro-ROS-Agent.git micro_ros_agent

Step 2. update ROS2 dep

    cd ros2_ws
    sudo apt update && rosdep update
    source /opt/ros/humble/setup.bash
    rosdep install --from-paths src --ignore-src -r -y

Step 3. install Micro-XRCE-DDS-Gen

    cd ros2_ws
    sudo apt install default-jre -y
    git clone --recurse-submodules https://github.com/ardupilot/Micro-XRCE-DDS-Gen.git src/Micro-XRCE-DDS-Gen
    cd ros2_ws/src/Micro-XRCE-DDS-Gen
    ./gradlew assemble
    echo "export PATH=\$PATH:$PWD/scripts" >> ~/.bashrc

test with

    cd ros2_ws
    microxrceddsgen -help
    microxrceddsgen usage:
            microxrceddsgen [options] <file> [<file> ...]
            where the options are:
                    -help: shows this help
                    -version: shows the current version of eProsima Micro XRCE-DDS Gen.
                    -example: Generates an example.
                    -replace: replaces existing generated files.
                    -ppDisable: disables the preprocessor.
                    -ppPath: specifies the preprocessor path.
                    -I <path>: add directory to preprocessor include paths.
                    -d <path>: sets an output directory for generated files.
                    -t <temp dir>: sets a specific directory as a temporary directory.
                    -cs: IDL grammar apply case sensitive matching.
            and the supported input files are:
            * IDL files.

Till now, if we follow the guide running colcon build --packages-up-to ardupilot_dds_tests, we will meet error casued by ardupilot_sitl

ardupilotros2@Robot:~/ros2_ws$ colcon build --packages-up-to ardupilot_dds_tests
Starting >>> ardupilot_msgs
Starting >>> micro_ros_agent
Finished <<< micro_ros_agent [0.10s]
Finished <<< ardupilot_msgs [0.25s]                    
Starting >>> ardupilot_sitl
--- stderr: ardupilot_sitl                         
gmake[2]: *** [CMakeFiles/ardupilot_build.dir/build.make:70: CMakeFiles/ardupilot_build] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:168: CMakeFiles/ardupilot_build.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< ardupilot_sitl [1.80s, exited with code 2]

Summary: 2 packages finished [2.35s]
  1 package failed: ardupilot_sitl
  1 package had stderr output: ardupilot_sitl
  1 package not processed

1.2 Build Ardupilot for simulation

Step 1 down load Ardupilot source code

    cd ros2_ws/src
    git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git
    cd ./ardupilot && git submodule update --init --recursive

Step 2 install dependencies

    cd ros2_ws
    ./src/ardupilot/Tools/environment_install/install-prereqs-ubuntu.sh -y

remember to install mavproxy

    sudo pip3 install mavproxy

Step 3. build Ardupilot for STL (only ArduCopter is needed here)

    cd ros2_ws/src/ardupilot
    ./waf distclean 
    ./waf configure --board sitl --enable-DDS
    ./waf copter

we should see

    BUILD SUMMARY
    Build directory: /home/ardupilotros2/ros2_ws/src/ardupilot/build/sitl
    10:44:21 runner ['/usr/bin/size', 'bin/arducopter']
    Target          Text (B)  Data (B)  BSS (B)  Total Flash Used (B)  Free Flash (B)  External Flash Used (B)
    ----------------------------------------------------------------------------------------------------------
    bin/arducopter   4403129    201437   333024               4604566  Not Applicable  Not Applicable         

    'copter' finished successfully (2m52.064s)

Step 4 build ROS2 pkgs for Ardupilot After building Ardupilot, we still need to build ROS2 pkgs in the workspace.

    cd ros2_ws
    colcon build
    Starting >>> ardupilot_msgs
    Starting >>> micro_ros_agent
    Finished <<< micro_ros_agent [0.13s]                                                                   
    Finished <<< ardupilot_msgs [0.42s]                     
    Starting >>> ardupilot_sitl
    [Processing: ardupilot_sitl]                             
    [Processing: ardupilot_sitl]                                     
    [Processing: ardupilot_sitl]                                       
    [Processing: ardupilot_sitl]                                       
    [Processing: ardupilot_sitl]                                       
    Finished <<< ardupilot_sitl [2min 56s]                              
    Starting >>> ardupilot_dds_tests
    Finished <<< ardupilot_dds_tests [0.69s]                

    Summary: 4 packages finished [2min 57s]

Then, it is possible to launch simulation using ROS2 launch.

    cd ros2_ws
    source install/setup.bash
    ROS2 launch ardupilot_sitl sitl_dds_udp.launch.py \
        transport:=udp4 \
        synthetic_clock:=True \
        wipe:=False \
        model:=quad \
        speedup:=1 \
        slave:=0 \
        instance:=0 \
        defaults:=$(ROS2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ROS2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_udp.parm \
        sim_address:=127.0.0.1 \
        master:=tcp:127.0.0.1:5760 \
        sitl:=127.0.0.1:5501

which gives

[INFO] [launch]: All log files can be found below /home/ardupilotros2/.ros/log/2025-09-21-11-03-43-389876-Robot-25877
[INFO] [launch]: Default logging verbosity is set to INFO
namespace:        
transport:        udp4
middleware:       dds
verbose:          4
discovery:        7400
port:             2019
command:          arducopter
model:            quad
speedup:          1
slave:            0
sim_address:      127.0.0.1
instance:         0
defaults:         /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
synthetic_clock:  True
command:          mavproxy.py
master:           tcp:127.0.0.1:5760
sitl:             127.0.0.1:5501
out:              127.0.0.1:14550
console:          False
map:              False
[INFO] [micro_ros_agent-1]: process started with pid [25878]
[INFO] [dds_udp.parm --synthetic-clock -2]: process started with pid [25880]
[INFO] [mavproxy.py -3]: process started with pid [25883]
[dds_udp.parm --synthetic-clock -2] Setting SIM_SPEEDUP=1.000000
[dds_udp.parm --synthetic-clock -2] Ignoring stale command-line parameter '-S'Suggested EK3_DRAG_BCOEF_* = 17.209, EK3_DRAG_MCOEF = 0.209
[dds_udp.parm --synthetic-clock -2] Starting sketch 'ArduCopter'
[dds_udp.parm --synthetic-clock -2] Starting SITL input
[dds_udp.parm --synthetic-clock -2] Using Irlock at port : 9005
[dds_udp.parm --synthetic-clock -2] Waiting for connection ....
[dds_udp.parm --synthetic-clock -2] bind port 5760 for SERIAL0
[dds_udp.parm --synthetic-clock -2] SERIAL0 on TCP port 5760
[micro_ros_agent-1] [1758452623.416599] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 2019
[micro_ros_agent-1] [1758452623.416780] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[dds_udp.parm --synthetic-clock -2] Connection on serial port 5760
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] bind port 5762 for SERIAL1
[dds_udp.parm --synthetic-clock -2] SERIAL1 on TCP port 5762
[dds_udp.parm --synthetic-clock -2] bind port 5763 for SERIAL2
[dds_udp.parm --synthetic-clock -2] SERIAL2 on TCP port 5763
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Home: -35.363262 149.165237 alt=584.000000m hdg=353.000000
[dds_udp.parm --synthetic-clock -2] Smoothing reset at 0.001
[dds_udp.parm --synthetic-clock -2] validate_structures:528: Validating structures
[dds_udp.parm --synthetic-clock -2] Waiting for internal clock bits to be set (current=0x00)
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[mavproxy.py -3] Connect tcp:127.0.0.1:5760 source_system=255
[mavproxy.py -3] Log Directory: 
[mavproxy.py -3] Telemetry log: mav.tlog
[mavproxy.py -3] Waiting for heartbeat from tcp:127.0.0.1:5760
[mavproxy.py -3] AP: RCInput: decoding UDP (Pulses)
[mavproxy.py -3] AP: Calibrating barometer
[mavproxy.py -3] Detected vehicle 1:1 on link 0
[mavproxy.py -3] online system 1
[mavproxy.py -3] STABILIZE> Mode STABILIZE
[mavproxy.py -3] AP: ArduCopter V4.7.0-dev (07cd29fc)
[mavproxy.py -3] AP: 3c1a7efa25eb475084939861d741caa6
[mavproxy.py -3] AP: Frame: QUAD/PLUS
[mavproxy.py -3] AP: Barometer 1 calibration complete
[mavproxy.py -3] AP: Barometer 2 calibration complete
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/ardupilotros2/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[micro_ros_agent-1] [1758452625.949405] info     | Root.cpp           | create_client            | create                 | client_key: 0xAAAABBBB, session_id: 0x81
[micro_ros_agent-1] [1758452625.949489] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0xAAAABBBB, address: 127.0.0.1:44708
[mavproxy.py -3] Init Gyro**Received 1359 parameters (ftp)
[mavproxy.py -3] Saved 1359 parameters to mav.parm
[mavproxy.py -3] 
[mavproxy.py -3] AP: ArduPilot Ready
[mavproxy.py -3] AP: AHRS: DCM active
[mavproxy.py -3] AP: DDS: initializing...
[mavproxy.py -3] AP: DDS: Init complete
[micro_ros_agent-1] [1758452625.961717] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0xAAAABBBB, participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.961951] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x000(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.962006] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x000(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.962322] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[micro_ros_agent-1] [1758452625.962489] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x001(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.962513] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x001(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.962727] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x001(5), publisher_id: 0x001(3)
[micro_ros_agent-1] [1758452625.962848] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x002(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.962881] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x002(3), participant_id: 0x001(1)
[mavproxy.py -3] AP: DDS: Topic/Pub/Writer session pass for index '0'
[micro_ros_agent-1] [1758452625.963068] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x002(5), publisher_id: 0x002(3)
[micro_ros_agent-1] [1758452625.963200] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x003(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.963225] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x003(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.963365] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x003(5), publisher_id: 0x003(3)
[micro_ros_agent-1] [1758452625.963464] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x004(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.963481] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x004(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.963650] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x004(5), publisher_id: 0x004(3)
[micro_ros_agent-1] [1758452625.963751] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x005(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.963773] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x005(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.963904] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x005(5), publisher_id: 0x005(3)
[micro_ros_agent-1] [1758452625.964015] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x006(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.964031] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x006(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.964170] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x006(5), publisher_id: 0x006(3)
[micro_ros_agent-1] [1758452625.964268] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x007(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.964293] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x007(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.964433] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x007(5), publisher_id: 0x007(3)
[micro_ros_agent-1] [1758452625.964564] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x008(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.964579] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x008(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.964705] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x008(5), publisher_id: 0x008(3)
[micro_ros_agent-1] [1758452625.964809] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x009(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.964831] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x009(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.964967] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x009(5), publisher_id: 0x009(3)
[micro_ros_agent-1] [1758452625.965059] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x00A(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.965077] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x00A(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.965241] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x00A(5), publisher_id: 0x00A(3)
[micro_ros_agent-1] [1758452625.965328] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x00B(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.965346] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x00B(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.965592] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x00B(5), publisher_id: 0x00B(3)
[micro_ros_agent-1] [1758452625.965684] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x00C(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.965702] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x00C(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.965917] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x00C(5), publisher_id: 0x00C(3)
[micro_ros_agent-1] [1758452625.966027] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x00D(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.966056] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x00D(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.966235] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x00D(5), publisher_id: 0x00D(3)
[micro_ros_agent-1] [1758452625.966333] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x00E(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.966370] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0xAAAABBBB, subscriber_id: 0x00E(4), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.966639] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0xAAAABBBB, datareader_id: 0x00E(6), subscriber_id: 0x00E(4)
[micro_ros_agent-1] [1758452625.966827] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x00F(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.966857] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0xAAAABBBB, subscriber_id: 0x00F(4), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.967075] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0xAAAABBBB, datareader_id: 0x00F(6), subscriber_id: 0x00F(4)
[micro_ros_agent-1] [1758452625.967244] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x010(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.967272] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0xAAAABBBB, subscriber_id: 0x010(4), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.967456] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0xAAAABBBB, datareader_id: 0x010(6), subscriber_id: 0x010(4)
[micro_ros_agent-1] [1758452625.967617] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x011(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.967641] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0xAAAABBBB, subscriber_id: 0x011(4), participant_id: 0x001(1)
[micro_ros_agent-1] [1758452625.967807] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0xAAAABBBB, datareader_id: 0x011(6), subscriber_id: 0x011(4)
[micro_ros_agent-1] [1758452625.968520] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xAAAABBBB, requester_id: 0x000(7), participant_id: 0x001(1)
[mavproxy.py -3] AP: DDS: Topic/Pub/Writer session pass for index '11'
[micro_ros_agent-1] [1758452625.969145] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xAAAABBBB, requester_id: 0x001(7), participant_id: 0x001(1)
[mavproxy.py -3] AP: DDS: Topic/Pub/Writer session pass for index '12'
[micro_ros_agent-1] [1758452625.969738] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xAAAABBBB, requester_id: 0x002(7), participant_id: 0x001(1)
[mavproxy.py -3] AP: DDS: Topic/Pub/Writer session pass for index '13'
[mavproxy.py -3] AP: DDS: Topic/Sub/Reader session pass for index '14'
[micro_ros_agent-1] [1758452625.970336] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xAAAABBBB, requester_id: 0x003(7), participant_id: 0x001(1)
[mavproxy.py -3] AP: DDS: Topic/Sub/Reader session pass for index '15'
[mavproxy.py -3] AP: DDS: Topic/Sub/Reader session pass for index '16'
[micro_ros_agent-1] [1758452625.971030] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xAAAABBBB, requester_id: 0x004(7), participant_id: 0x001(1)
[mavproxy.py -3] AP: DDS: Topic/Sub/Reader session pass for index '17'
[micro_ros_agent-1] [1758452625.971660] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xAAAABBBB, requester_id: 0x005(7), participant_id: 0x001(1)

1.3 Tune Ardupilot parameters to enable DDS communication

Untill now, we can launch Ardupilot STL using ROS2 launch, but we cannot obtain ROS2 topics published and subscribed by Ardupilot because of DDS communication.

Launch QGroundControl to change two more paramers that areDDS_ENABLE and DDS_ID:

  • set DDS_ENABLE=1
  • set DDS_DOMAIN_ID=1 # change it based on your needs

Save it, kill and restart simulation.

Thus, we should be able to see all the topics with ROS2 topics.