Build

AutoAPMS is intended to be built using colcon just like any other ROS 2 package. Feel encouraged to check out the advantages of using the recommended VS Code template for developers which facilitates setting up an AutoAPMS/PX4 development workspace.

The following ROS 2 packages are considered to be hard dependencies of the AutoAPMS framework:

Name	Description
BehaviorTree.CPP	Implementation of the behavior tree paradigm.
BehaviorTree.ROS2	Behavior tree nodes for interfaces specific to ROS 2.
px4-ros2-interface-lib	Library that allows to model PX4 flight modes as ROS 2 applications.
px4_msgs	ROS 2 message definitions for the PX4 Autopilot project.

To install these packages and build your ROS 2 workspace, follow this step-by-step guide:

NOTE

The following assumes that you already installed ROS 2 (Humble Hawksbill) base + dev-tools and created a workspace with a structure similar to the one created in the official tutorial.

1. Clone the source code to the src directory of your workspace:

   # Assuming the current directory is your ROS workspace
   git clone https://github.com/robin-mueller/auto-apms.git src

2. Install all required ROS packages via rosdep:

   rosdep update
   rosdep install --from-paths "src" --ignore-src -y

3. Some dependencies are not available via rosdep, so we need to manually clone the repositories specified in dependencies.repos (e.g. using vcstool):

   vcs import < "src/auto-apms/dependencies.repos" "src" --recursive

4. You should now be able to build the auto_apms package and all its dependencies:

   colcon build --packages-up-to auto_apms