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New Crowdin translations - ko (#25588)
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PX4 Build Bot
@@ -65,7 +65,7 @@ PX4 Micro XRCE-DDS Client is based on version `v2.x` which is not compatible wit
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On Ubuntu you can build from source and install the Agent standalone using the following commands:
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```sh
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git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
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git clone -b v2.4.3 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
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cd Micro-XRCE-DDS-Agent
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mkdir build
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cd build
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@@ -118,78 +118,78 @@ To build the agent within ROS:
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1. Create a workspace directory for the agent:
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```sh
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mkdir -p ~/px4_ros_uxrce_dds_ws/src
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```
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```sh
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mkdir -p ~/px4_ros_uxrce_dds_ws/src
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```
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2. Clone the source code for the eProsima [Micro-XRCE-DDS-Agent](https://github.com/eProsima/Micro-XRCE-DDS-Agent) to the `/src` directory (the `main` branch is cloned by default):
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```sh
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cd ~/px4_ros_uxrce_dds_ws/src
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git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
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```
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```sh
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cd ~/px4_ros_uxrce_dds_ws/src
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git clone -b v2.4.3 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
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```
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3. Source the ROS 2 development environment, and compile the workspace using `colcon`:
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:::: tabs
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:::: tabs
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::: tab humble
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::: tab humble
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```sh
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source /opt/ros/humble/setup.bash
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colcon build
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```
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```sh
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source /opt/ros/humble/setup.bash
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colcon build
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```
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:::
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::: tab foxy
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::: tab foxy
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```sh
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source /opt/ros/foxy/setup.bash
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colcon build
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```
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```sh
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source /opt/ros/foxy/setup.bash
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colcon build
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```
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:::
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::::
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::::
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This builds all the folders under `/src` using the sourced toolchain.
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This builds all the folders under `/src` using the sourced toolchain.
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To run the micro XRCE-DDS agent in the workspace:
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1. Source the `local_setup.bash` to make the executables available in the terminal (also `setup.bash` if using a new terminal).
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:::: tabs
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:::: tabs
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::: tab humble
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::: tab humble
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```sh
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source /opt/ros/humble/setup.bash
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source install/local_setup.bash
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```
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```sh
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source /opt/ros/humble/setup.bash
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source install/local_setup.bash
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```
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:::
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::: tab foxy
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::: tab foxy
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```sh
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source /opt/ros/foxy/setup.bash
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source install/local_setup.bash
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```
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```sh
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source /opt/ros/foxy/setup.bash
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source install/local_setup.bash
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```
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:::
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::::
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::::
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1) Start the agent with settings for connecting to the uXRCE-DDS client running on the simulator:
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```sh
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MicroXRCEAgent udp4 -p 8888
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```
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```sh
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MicroXRCEAgent udp4 -p 8888
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```
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## Starting Agent and Client
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@@ -279,6 +279,9 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi
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- [UXRCE_DDS_SYNCT](../advanced_config/parameter_reference.md#UXRCE_DDS_SYNCT): Bridge time synchronization enable.
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The uXRCE-DDS client module can synchronize the timestamp of the messages exchanged over the bridge.
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This is the default configuration. In certain situations, for example during [simulations](../ros2/user_guide.md#ros-gazebo-and-px4-time-synchronization), this feature may be disabled.
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- [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX): Index-based namespace definition
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Setting this parameter to any value other than `-1` creates a namespace with the prefix `uav_` and the specified value, e.g. `uav_0`, `uav_1`, etc.
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See [namespace](#customizing-the-namespace) for methods to define richer or arbitrary namespaces.
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:::info
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Many ports are already have a default configuration.
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@@ -354,7 +357,7 @@ Therefore,
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## Customizing the Namespace
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Custom topic and service namespaces can be applied at build time (changing [dds_topics.yaml](../middleware/dds_topics.md)) or at runtime (which is useful for multi vehicle operations):
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Custom topic and service namespaces can be applied at build time (changing [dds_topics.yaml](../middleware/dds_topics.md)), at runtime, or through a parameter (which is useful for multi vehicle operations):
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- One possibility is to use the `-n` option when starting the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) from command line.
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This technique can be used both in simulation and real vehicles.
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@@ -383,6 +386,22 @@ will generate topics under the namespaces:
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:::
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- A simple index-based namespace can be applied by setting the parameter [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) to a value between 0 and 9999.
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This will generate a namespace such as `/uav_0`, `/uav_1`, and so on.
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This technique is ideal if vehicles must be persistently associated with namespaces because their clients are automatically started through PX4.
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:::info
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PX4 parameters cannot carry rich text strings.
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Therefore, you cannot use [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) to automatically start a client with an arbitrary message namespace through PX4.
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You can however specify a namespace when starting the client, using the `-n` argument:
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```sh
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# In etc/extras.txt on the MicroSD card
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uxrce_dds_client start -n fancy_uav
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```
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This can be included in `etc/extras.txt` as part of a custom [System Startup](../concept/system_startup.md).
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## PX4 ROS 2 QoS Settings
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PX4 QoS settings for publishers are incompatible with the default QoS settings for ROS 2 subscribers.
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@@ -466,15 +485,15 @@ Each (`topic`,`type`) pairs defines:
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1. A new `publication`, `subscription`, or `subscriptions_multi`, depending on the list to which it is added.
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2. The topic _base name_, which **must** coincide with the desired uORB topic name that you want to publish/subscribe.
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It is identified by the last token in `topic:` that starts with `/` and does not contains any `/` in it.
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`vehicle_odometry`, `vehicle_status` and `offboard_control_mode` are examples of base names.
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It is identified by the last token in `topic:` that starts with `/` and does not contains any `/` in it.
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`vehicle_odometry`, `vehicle_status` and `offboard_control_mode` are examples of base names.
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3. The topic [namespace](https://design.ros2.org/articles/topic_and_service_names.html#namespaces).
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By default it is set to:
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- `/fmu/out/` for topics that are _published_ by PX4.
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- `/fmu/in/` for topics that are _subscribed_ by PX4.
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By default it is set to:
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- `/fmu/out/` for topics that are _published_ by PX4.
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- `/fmu/in/` for topics that are _subscribed_ by PX4.
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4. The message type (`VehicleOdometry`, `VehicleStatus`, `OffboardControlMode`, etc.) and the ROS 2 package (`px4_msgs`) that is expected to provide the message definition.
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5. **(Optional)**: An additional `rate_limit` field (only for publication entries), which specifies the maximum rate (Hz) at which messages will be published on this topic by PX4 to ROS 2.
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If left unspecified, the maximum publication rate limit is set to 100 Hz.
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If left unspecified, the maximum publication rate limit is set to 100 Hz.
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`subscriptions` and `subscriptions_multi` allow us to choose the uORB topic instance that ROS 2 topics are routed to: either a shared instance that may also be getting updates from internal PX4 uORB publishers, or a separate instance that is reserved for ROS2 publications, respectively.
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Without this mechanism all ROS 2 messages would be routed to the _same_ uORB topic instance (because ROS 2 does not have the concept of [multiple topic instances](../middleware/uorb.md#multi-instance)), and it would not be possible for PX4 subscribers to differentiate between streams from ROS 2 or PX4 publishers.
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@@ -516,7 +535,7 @@ For a list of services, details and examples see the [service documentation](../
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These guidelines explain how to migrate from using PX4 v1.13 [Fast-RTPS](../middleware/micrortps.md) middleware to PX4 v1.14 `uXRCE-DDS` middleware.
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These are useful if you have [ROS 2 applications written for PX4 v1.13](https://docs.px4.io/v1.13/en/ros/ros2_comm.html), or you have used Fast-RTPS to interface your applications to PX4 [directly](https://docs.px4.io/v1.13/en/middleware/micrortps.html#agent-in-an-offboard-fast-dds-interface-ros-independent).
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:::info
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::: info
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This section contains migration-specific information.
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You should also read the rest of this page to properly understand uXRCE-DDS.
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:::
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