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Document ROS 2 services #6457

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Document ROS 2 services #6457

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64 changes: 60 additions & 4 deletions dev/source/docs/ros2-interfaces.rst
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Expand Up @@ -160,10 +160,66 @@ Commands

ArduPilot exposes service servers for the following purposes:

* Pre-arm check
* Arming
* Changing modes
* Takeoff (copter only)
.. raw:: html

<table border="1" class="docutils">
<tbody>
<tr>
<th>Service Name</th>
<th>Service Type</th>
<th>Description</th>
</tr>
<tr>
<td>/ap/arm_motors</td>
<td>ardupilot_msgs/srv/ArmMotors</td>
<td>Arm or disarm the vehicle</td>
</tr>
<tr>
<td>/ap/experimental/takeoff</td>
<td>ardupilot_msgs/srv/Takeoff</td>
<td>Command a copter to take off</td>
</tr>
<tr>
<td>/ap/get_parameters</td>
<td>rcl_interfaces/srv/GetParameters</td>
<td>Get a parameter; works with "ros2 param get ..."</td>
</tr>
<tr>
<td>/ap/mode_switch</td>
<td>ardupilot_msgs/srv/ModeSwitch</td>
<td>Change the drive/flight mode</td>
</tr>
<tr>
<td>/ap/prearm_check</td>
<td>std_srvs/srv/Trigger</td>
<td>Check if the vehicle can be armed</td>
</tr>
<tr>
<td>/ap/set_parameters</td>
<td>rcl_interfaces/srv/SetParameters</td>
<td>Set a parameter; works with "ros2 param set ..."</td>
</tr>
</tbody>
</table>

After building ``ardupilot_msgs`` and sourcing your workspace, you can inspect the message definitions likes so:

.. code-block:: bash

ros2 interface show ardupilot_msgs/srv/ArmMotors

To check the vehicle can be armed using the ROS 2 CLI:

.. code-block:: bash

ros2 service call /ap/prearm_check std_srvs/srv/Trigger

To arm the vehicle using the ROS 2 CLI:

.. code-block:: bash

ros2 service call /ap/arm_motors ardupilot_msgs/srv/ArmMotors "{arm: true}"


Odometry
========
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