• ROS Humble

• Gazebo Garden

• Cartographer ROS

  • Recommended: Install Google Cartographer with rosdep

• ardupilot_gz

• ardupilot_ros

Clone this repository into your ros2 workspace alongside ardupilot_gz:

cd ~/ros2_ws/src
git clone git@github.com:ardupilot/ardupilot_ros.git

Install dependencies using rosdep:

cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r --skip-keys gazebo-ros-pkgs

Build it with colcon build:

cd ~/ros2_ws
source /opt/ros/humble/setup.bash
colcon build --packages-up-to ardupilot_ros ardupilot_gz_bringup

Refer to individual package READMEs for detailed usage instructions:

• ardupilot_cartographer: Instructions to run Cartographer SLAM.

• Ensure the pre-commit hooks pass locally before creating your pull request by installing the hooks before committing.

  pre-commit install
  git commit

• See the ArduPilot Contributing Guide