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main/docs/simulation/isaac_sim/index.html

@@ -5134,6 +5134,13 @@ <h2 id="usd-file-naming-conventions">USD File Naming Conventions<a class="header
 <p><code>*.scene.usd</code> ⟵ an environment PLUS physics, simulation, or robots</p>
 </li>
 </ul>
+<h2 id="pegasus-launch-scripts-isaac_sim_script_name">Pegasus launch scripts (<code>ISAAC_SIM_SCRIPT_NAME</code>)<a class="headerlink" href="#pegasus-launch-scripts-isaac_sim_script_name" title="Permanent link">&para;</a></h2>
+<p>Set <code>ISAAC_SIM_SCRIPT_NAME</code> in the repo <code>.env</code> to one of the Python files under <code>simulation/isaac-sim/launch_scripts/</code>:</p>
+<ul>
+<li><code>example_one_px4_pegasus_launch_script.py</code> / <code>example_two_px4_pegasus_launch_script.py</code> — PX4 SITL + Pegasus</li>
+<li><code>example_one_ardupilot_pegasus_launch_script.py</code> / <code>example_two_ardupilot_pegasus_launch_script.py</code> — ArduPilot SITL + Pegasus</li>
+</ul>
+<p>For ArduPilot in Docker/headless Isaac, set <code>ARDUPILOT_LAUNCH_HEADLESS=true</code> (default in <code>.env</code>) so autolaunch does not require <code>gnome-terminal</code>. Use <code>FLIGHT_STACK=ardupilot</code> in <code>.env</code> when the robot stack should use MAVROS APM plugins and <code>is_ardupilot</code> on the interface node.</p>
 
 
 

main/robot/docker/robot-base-docker-compose.yaml

@@ -17,6 +17,7 @@ services:
       # MAVROS
       - OFFBOARD_BASE_PORT=${OFFBOARD_BASE_PORT}
       - ONBOARD_BASE_PORT=${ONBOARD_BASE_PORT}
+      - FLIGHT_STACK=${FLIGHT_STACK:-px4}
       - ROBOT_NAME_MAP_CONFIG_FILE=${ROBOT_NAME_MAP_CONFIG_FILE:-default_robot_name_map.yaml}
     volumes:
       # display stuff

main/robot/ros_ws/src/interface/interface_bringup/launch/interface.launch.py

@@ -1,17 +1,31 @@
 #!/usr/bin/env python3
 """ROS2 Python launch file for interface bringup.
 
-Dynamically computes FCU URL and TGT_SYSTEM from environment variables:
-    OFFBOARD_PORT = OFFBOARD_BASE_PORT + ROS_DOMAIN_ID
-    ONBOARD_PORT  = ONBOARD_BASE_PORT  + ROS_DOMAIN_ID
-    FCU_URL       = udp://:<OFFBOARD_PORT>@172.31.0.200:<ONBOARD_PORT>
-    TGT_SYSTEM    = 1 + ROS_DOMAIN_ID
+Dynamically computes FCU URL and TGT_SYSTEM from environment variables (unless FCU_URL is set):
+    PX4:  FCU_URL = udp://:<OFFBOARD_PORT>@172.31.0.200:<ONBOARD_PORT>
+    ArduPilot SITL: FCU_URL = tcp://172.31.0.200:<5760 + ROS_DOMAIN_ID * 10>
+    TGT_SYSTEM = 1 + ROS_DOMAIN_ID (unless TGT_SYSTEM is set)
+
+FLIGHT_STACK=px4 (default) uses mavros_px4.launch.xml; FLIGHT_STACK=ardupilot uses mavros_apm.launch.xml
+and sets is_ardupilot on robot_interface_node.
+
+map → base_link TF: ``odometry_conversion`` subscribes to ``interface_odometry_in_topic`` (default:
+MAVROS ``local_position/odom``), overwrites frames to map/base_link, and broadcasts TF. To drive TF
+from simulation ground truth instead, launch with ``interface_odometry_in_topic`` remapped to that
+topic (and ensure QoS/frame ids match). Other sources (VIO, etc.) can use the same remapping pattern.
 """
 
 import os
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription, OpaqueFunction
+from launch.actions import (
+    DeclareLaunchArgument,
+    ExecuteProcess,
+    GroupAction,
+    IncludeLaunchDescription,
+    OpaqueFunction,
+    TimerAction,
+)
 from launch.launch_description_sources import AnyLaunchDescriptionSource
 from launch_ros.actions import Node, PushRosNamespace
 from launch_ros.substitutions import FindPackageShare
@@ -24,8 +38,16 @@ def launch_setup(context, *args, **kwargs):
     # Use pre-set env vars if available, otherwise compute from base ports + domain id
     ros_domain_id = int(os.environ.get('ROS_DOMAIN_ID', '0'))
 
+    flight_stack = os.environ.get('FLIGHT_STACK', 'px4').strip().lower()
+    is_ardupilot = flight_stack in ('ardupilot', 'apm')
+
     if os.environ.get('FCU_URL'):
         fcu_url = os.environ['FCU_URL']
+    elif is_ardupilot:
+        # ArduCopter SITL exposes serial0 as tcp:0.0.0.0:<5760 + ROS_DOMAIN_ID * 10>:wait
+        # inside the Isaac container (172.31.0.200).  MAVROS connects via TCP.
+        serial0_port = 5760 + ros_domain_id * 10
+        fcu_url = f'tcp://172.31.0.200:{serial0_port}'
     else:
         offboard_base_port = int(os.environ.get('OFFBOARD_BASE_PORT', '14540'))
         onboard_base_port = int(os.environ.get('ONBOARD_BASE_PORT', '14580'))
@@ -48,12 +70,15 @@ def launch_setup(context, *args, **kwargs):
 
     # --- MAVROS (skipped in simple sim) -------------------------------------
     if sim_type != 'simple':
+        mavros_launch = (
+            'mavros_apm.launch.xml' if is_ardupilot else 'mavros_px4.launch.xml'
+        )
         mavros_group = GroupAction([
             PushRosNamespace('interface'),
             IncludeLaunchDescription(
                 AnyLaunchDescriptionSource([
                     FindPackageShare('interface_bringup'),
-                    '/launch/mavros_px4.launch.xml',
+                    f'/launch/{mavros_launch}',
                 ]),
                 launch_arguments={
                     'fcu_url': fcu_url,
@@ -63,6 +88,63 @@ def launch_setup(context, *args, **kwargs):
         ])
         actions.append(mavros_group)
 
+        # ArduPilot: MAVROS for APM on Jazzy does not auto-request MAVLink data
+        # streams.  PX4 pushes everything by default, but ArduPilot needs explicit
+        # SET_MESSAGE_INTERVAL for each message.  Without this, LOCAL_POSITION_NED
+        # is never sent on serial0 → odometry_conversion gets nothing → no TF.
+        # set_stream_rate (REQUEST_DATA_STREAM) does NOT reliably include
+        # LOCAL_POSITION_NED on ArduCopter 4.x; set_message_interval works.
+        if is_ardupilot:
+            mavros_ns = f'/{robot_name}/interface/mavros'
+            odom_topic = f'/{robot_name}/interface/mavros/local_position/odom'
+            interval_svc = f'{mavros_ns}/set_message_interval'
+            # ArduPilot ACKs SET_MESSAGE_INTERVAL even before EKF converges, but
+            # silently ignores it until the message is available.  Retry in a loop
+            # until local_position/odom actually starts publishing.
+            # odom requires BOTH LOCAL_POSITION_NED (32) and ATTITUDE_QUATERNION (31).
+            stream_requests = [
+                # (MAVLink msg ID, rate Hz)
+                (32, 10.0),   # LOCAL_POSITION_NED  → local_position/{pose,odom}
+                (31, 10.0),   # ATTITUDE_QUATERNION → attitude in odom, imu/data
+                (30, 10.0),   # ATTITUDE            → imu/data orientation
+                (27, 10.0),   # RAW_IMU             → imu/data, imu/data_raw
+                (33, 5.0),    # GLOBAL_POSITION_INT → global_position/{global,rel_alt}
+                (74, 5.0),    # VFR_HUD             → altitude, airspeed, heading
+                (1, 2.0),     # SYS_STATUS          → battery, sensors health
+                (24, 5.0),    # GPS_RAW_INT         → GPS fix quality
+                (29, 2.0),    # SCALED_PRESSURE     → barometer / imu/static_pressure
+            ]
+            svc_calls = ' '.join(
+                f'ros2 service call {interval_svc} '
+                f'mavros_msgs/srv/MessageInterval '
+                f'"{{message_id: {mid}, message_rate: {rate}}}" > /dev/null 2>&1;'
+                for mid, rate in stream_requests
+            )
+            request_script = (
+                f'for attempt in $(seq 1 60); do '
+                f'  {svc_calls} '
+                f'  if timeout 3 ros2 topic hz {odom_topic} 2>&1 '
+                f'    | grep -q "average rate"; then '
+                f'    echo "[ArduPilot streams] local_position/odom active after attempt $attempt"; '
+                f'    exit 0; '
+                f'  fi; '
+                f'  echo "[ArduPilot streams] attempt $attempt — odom not yet active, retrying in 5s"; '
+                f'  sleep 5; '
+                f'done; '
+                f'echo "[ArduPilot streams] WARNING: odom still not active after 60 attempts"'
+            )
+            actions.append(
+                TimerAction(
+                    period=10.0,
+                    actions=[
+                        ExecuteProcess(
+                            cmd=['bash', '-c', request_script],
+                            output='screen',
+                        ),
+                    ],
+                )
+            )
+
     # --- Interface between AirStack and MAVROS ------------------------------
     robot_interface_node = Node(
         package='robot_interface',
@@ -71,7 +153,7 @@ def launch_setup(context, *args, **kwargs):
         output='screen',
         parameters=[{
             'interface': 'mavros_interface::MAVROSInterface',
-            'is_ardupilot': False,
+            'is_ardupilot': is_ardupilot,
             'post_takeoff_command_delay_time': 10.0,
             'do_global_pose_command': False,
         }],
@@ -106,6 +188,8 @@ def launch_setup(context, *args, **kwargs):
         namespace='odometry_conversion',
         output='screen',
         parameters=[{
+            # True → BEST_EFFORT (MAVROS local_position/odom on Jazzy). Required for matching QoS.
+            # False → RELIABLE (use for publishers that only offer reliable, e.g. some bag/replay setups).
             'odom_input_qos_is_best_effort': True,
             'new_frame_id': 'map',
             'new_child_frame_id': 'base_link',
@@ -146,7 +230,10 @@ def generate_launch_description():
     interface_odometry_in_topic_arg = DeclareLaunchArgument(
         'interface_odometry_in_topic',
         default_value=f'/{robot_name}/interface/mavros/local_position/odom',
-        description='Input odometry topic remapped into the odometry_conversion node',
+        description=(
+            'nav_msgs/Odometry source for odometry_conversion (map→base_link TF). '
+            'Default: MAVROS local position. Override for sim ground-truth or other estimators.'
+        ),
     )
 
     return LaunchDescription([

main/robot/ros_ws/src/interface/interface_bringup/launch/mavros_apm.launch.xml

@@ -0,0 +1,23 @@
+<launch>
+	<arg name="fcu_url" default="/dev/ttyACM0:57600" />
+	<arg name="gcs_url" default="" />
+	<arg name="tgt_system" default="1" />
+	<arg name="tgt_component" default="1" />
+	<arg name="log_output" default="screen" />
+	<arg name="fcu_protocol" default="v2.0" />
+	<arg name="respawn_mavros" default="false" />
+	<arg name="namespace" default="mavros"/>
+
+	<include file="$(find-pkg-share mavros)/launch/node.launch">
+		<arg name="pluginlists_yaml" value="$(find-pkg-share mavros)/launch/apm_pluginlists.yaml" />
+		<arg name="config_yaml" value="$(find-pkg-share mavros)/launch/apm_config.yaml" />
+		<arg name="fcu_url" value="$(var fcu_url)" />
+		<arg name="gcs_url" value="$(var gcs_url)" />
+		<arg name="tgt_system" value="$(var tgt_system)" />
+		<arg name="tgt_component" value="$(var tgt_component)" />
+		<arg name="log_output" value="$(var log_output)" />
+		<arg name="fcu_protocol" value="$(var fcu_protocol)" />
+		<arg name="respawn_mavros" value="$(var respawn_mavros)" />
+		<arg name="namespace" value="$(var namespace)"/>
+	</include>
+</launch>

main/robot/ros_ws/src/interface/robot_interface/src/odometry_conversion.cpp

@@ -86,10 +86,17 @@ class OdometryConversion : public rclcpp::Node {
                          airstack::get_param(this, "odometry_position_translation_post_y", 0.),
                          airstack::get_param(this, "odometry_position_translation_post_z", 0.));
 
+        // QoS must match the odometry publisher. MAVROS local_position/odom (ROS 2 Jazzy)
+        // uses BEST_EFFORT; a RELIABLE subscriber will not receive those messages.
+        // Set odom_input_qos_is_best_effort:=false only for publishers that use RELIABLE.
         rmw_qos_profile_t qos = rmw_qos_profile_sensor_data;
         qos.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
-        qos.depth = 1;
-        if (odom_input_qos_is_best_effort) qos.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+        qos.depth = 10;
+        if (odom_input_qos_is_best_effort) {
+            qos.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+        } else {
+            qos.reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+        }
         odom_sub = this->create_subscription<nav_msgs::msg::Odometry>(
             "odometry_in", rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos),
             std::bind(&OdometryConversion::odom_callback, this, std::placeholders::_1));

main/search/search_index.json

@@ -1,10 +1,12 @@
 # expects context to be the root of the repository, i.e. AirStack/. this is so we can access AirStack/common/
 ARG ISAAC_VERSION="5.1.0"
 ARG PX4_VERSION="v1.16.1"
+ARG ARDUPILOT_BRANCH="ArduCopter-stable"
 
 FROM nvcr.io/nvidia/isaac-sim:${ISAAC_VERSION}
 ARG ISAAC_VERSION
 ARG PX4_VERSION
+ARG ARDUPILOT_BRANCH
 
 # for install stuff
 USER root
@@ -152,6 +154,19 @@ RUN cd PX4-Autopilot && \
 RUN cd PX4-Autopilot && \
     make px4_sitl
 
+# ArduPilot SITL (Pegasus ArduPilot backend + sim_vehicle); path matches OGN default ardupilotDir
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    gawk python3-wxgtk4.0 python3-pexpect libxml2-dev libxslt1-dev \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN git clone --branch ${ARDUPILOT_BRANCH} --depth 1 https://github.com/ArduPilot/ardupilot.git /isaac-sim/ardupilot \
+    && cd /isaac-sim/ardupilot \
+    && git submodule update --init --recursive \
+    && ./waf configure --board sitl \
+    && ./waf copter
+
+ENV ARDUPILOT_LAUNCH_HEADLESS=true
+
 RUN /isaac-sim/python.sh -m pip install --no-cache-dir lark-parser
 
 # TMux config

main/simulation/isaac-sim/docker/Dockerfile.isaac-ros

@@ -38,6 +38,8 @@ services:
       - QT_X11_NO_MITSHM=1
       # Isaac Sim stuff
       - PLAY_SIM_ON_START=${PLAY_SIM_ON_START}
+      - ARDUPILOT_LAUNCH_HEADLESS=${ARDUPILOT_LAUNCH_HEADLESS:-true}
+      - ONBOARD_BASE_PORT=${ONBOARD_BASE_PORT:-14580}
     deploy:
       # let it use the GPU
       resources: