Merge pull request #25 from hmakelin/hmakelin-update-docs

Update docs

Author: hmakelin

docs/pages/developer_guide/sitl_environment/autopilot.rst

@@ -14,10 +14,12 @@ Setup PX4
 ___________________________________________________
 **These instructions are written for PX4 version >=1.13.0, <=1.14.0-beta1**
 
-Follow the PX4 instructions to setup your `Ubuntu Development Environment`_ with `Fast DDS`_ support.
+Follow the PX4 instructions to setup your `Ubuntu Development Environment`_ with `Fast DDS`_ and `PX4-ROS 2 Bridge`_
+support.
 
 .. _Ubuntu Development Environment: https://docs.px4.io/master/en/simulation/ros_interface.html
 .. _Fast DDS: https://docs.px4.io/main/en/dev_setup/fast-dds-installation.html
+.. _PX4-ROS 2 Bridge: https://docs.px4.io/main/en/ros/ros2_comm.html
 
 Build Gazebo simulation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

docs/pages/developer_guide/sitl_environment/gis_server.rst

@@ -100,7 +100,7 @@ convenient to proxy an existing commercial tile-based endpoint.
             docker run \
               --name $CONTAINER_NAME \
               -p 80:80 \
-              -v $PWD/mapfiles/:$MASERVER_PATH/:ro \
+              -v $PWD/mapfiles/:$MAPSERVER_PATH/:ro \
               camptocamp/mapserver
 
         Test your MapServer WMS service by opening the capabilities XML in your browser:

docs/pages/developer_guide/sitl_environment/install_gisnav.rst

@@ -36,6 +36,9 @@ Install GISNav in your ROS 2 Workspace:
     cd ~/colcon_ws
     mkdir -p src && cd "$_"
     git clone https://github.com/hmakelin/gisnav.git
+    git clone https://github.com/hmakelin/gisnav_msgs.git
+    rosdep update
+    rosdep install --from-paths . -y --ignore-src
     cd gisnav
     pip3 install -r requirements.txt
 

docs/pages/developer_guide/test/sitl_tests.rst

@@ -4,7 +4,7 @@ SITL tests are under the ``test/sitl`` folder. They are simple Python scripts:
 
 .. code-block:: bash
 
-    cd ~/px4_ros_com_ros2/src/gisnav/test/sitl
+    cd ~/colcon_ws/src/gisnav/test/sitl
     python sitl_test_mock_gps_node.py
 
 Flight Log Analysis

gisnav/data.py

@@ -11,9 +11,8 @@
         )
         return position
     except DataValueError as dve:
-        self.get_logger().warn(f'Error determining vehicle position:\n{dve},\n{traceback.print_exc()}.')
+        self.get_logger().error('Error determining vehicle position.')
         return None
-
 """
 from __future__ import annotations  # Python version 3.7+
 
@@ -174,7 +173,7 @@ def __post_init__(self):
 # noinspection PyClassHasNoInit
 @dataclass(frozen=True)
 class ContextualMapData(_ImageHolder):
-    """Contains the rotated and cropped map image pose estimation"""
+    """Contains the rotated and cropped map image for pose estimation"""
     image: Img = field(init=False)              # Cropped and rotated map which is the same size as the camera frames
     elevation: Optional[Img] = field(init=None) # Rotated elevation raster (optional) in meters
     rotation: float                             # radians