droneAPI

A generic integration library for ROS2 with Ardupilot

How to install ardupilot_msgs:

Go into msg_ws and build the library:

cd msg_ws
rosdep update
source /opt/ros/humble/setup.bash
rosdep install --from-paths src --ignore-src
colcon build

Then we are copying the built files over into our main install for ROS so our python linter can find them:

sudo cp -a install/ardupilot_msgs/local/lib/python3.10/dist-packages/. /opt/ros/humble/local/lib/python3.10/dist-packages/

NOTE:

The above only helps with fixing linting issues.
Before running in a new terminal you will also need to source the workspace everytime with:

source msg_ws/install/setup.bash

Copter Mode Switch

https://mavlink.io/en/messages/ardupilotmega.html#COPTER_MODE