dev: Remove XML profile usage for 4.6

Signed-off-by: Ryan Friedman <[email protected]>
ArduPilot · Feb 15, 2025 · 386334e · 386334e
1 parent 421fb37
commit 386334e
Show file tree

Hide file tree

Showing 2 changed files with 33 additions and 8 deletions.
diff --git a/dev/source/docs/ros2-over-ethernet.rst b/dev/source/docs/ros2-over-ethernet.rst
@@ -87,8 +87,18 @@ Steps
 #. Reboot the flight controller
 #. Start the MicroROS Agent with the same port as the parameter for ``DDS_UDP_PORT``
 
-    .. code-block:: bash
+  .. tabs::
 
-        ros2 run micro_ros_agent micro_ros_agent udp4 -p 2019
+    .. group-tab:: ArduPilot 4.5
+
+        .. code-block:: bash
+
+          ros2 run micro_ros_agent micro_ros_agent udp4 -p 2019 -r dds_xrce_profile.xml
+
+    .. group-tab:: ArduPilot 4.6 and later
+
+        .. code-block:: bash
+
+          ros2 run micro_ros_agent micro_ros_agent udp4 -p 2019
 
 #. Use the ROS 2 CLI to interact with the autopilot
diff --git a/dev/source/docs/ros2-waypoint-goal-interface.rst b/dev/source/docs/ros2-waypoint-goal-interface.rst
@@ -16,14 +16,29 @@ Usage
 
 This page assumes that you've successfully followed the ROS 2 basic setups from this wiki: :ref:`ROS 2 <ros2>`, :ref:`ROS 2 with SITL <ros2-sitl>`, and :ref:`ROS 2 with gazebo <ros2-gazebo>`.
 
-Once that's done, simply run:
+Once that's done, start the MicroROS Agent.
 
-.. code-block:: bash
+.. tabs::
 
-    cd ~/ardu_ws/src
-    source ~/ardu_ws/install/setup.bash
-    cd ardupilot/libraries/AP_DDS
-    ros2 run micro_ros_agent micro_ros_agent udp4 -p 2019 -r dds_xrce_profile.xml
+    .. group-tab:: ArduPilot 4.5
+
+        .. code-block:: bash
+
+            cd ~/ardu_ws/src
+            source ~/ardu_ws/install/setup.bash
+            cd ardupilot/libraries/AP_DDS
+            ros2 run micro_ros_agent micro_ros_agent udp4 -p 2019 -r dds_xrce_profile.xml
+
+    .. group-tab:: ArduPilot 4.6 and later
+
+        .. code-block:: bash
+
+            cd ~/ardu_ws/src
+            source ~/ardu_ws/install/setup.bash
+            cd ardupilot/libraries/AP_DDS
+            ros2 run micro_ros_agent micro_ros_agent udp4 -p 2019
+
+And, in another terminal, run SITL.
 
 .. code-block:: bash