Improve ROS2 docs

* Consistent rosdep instructions * Add next steps to make order clearer * Put MavProxy in the SITL tutorial Signed-off-by: Ryan Friedman <[email protected]>
ArduPilot · Dec 7, 2023 · eca755f · eca755f
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diff --git a/dev/source/docs/ros2-cartographer-slam.rst b/dev/source/docs/ros2-cartographer-slam.rst
@@ -50,13 +50,6 @@ In another terminal, run:
     source ~/ros2_ws/install/setup.sh
     ros2 launch ardupilot_ros cartographer.launch.py
 
-To test and fly around, you can launch a `mavproxy <https://ardupilot.org/dev/docs/copter-sitl-mavproxy-tutorial.html>`__ instance in yet another terminal:
-
-.. code-block:: bash
-    
-    mavproxy.py --console --map --aircraft test --master=:14550
-
-
 Configure ArduPilot
 ===================
 

diff --git a/dev/source/docs/ros2-gazebo.rst b/dev/source/docs/ros2-gazebo.rst
@@ -32,14 +32,14 @@ Update ROS dependencies:
     source /opt/ros/humble/setup.bash
     sudo apt update
     rosdep update
-    rosdep install --rosdistro $ROS_DISTRO --from-paths src -i -r -y
+    rosdep install --from-paths src --ignore-src -r
 
 Build:
 
 .. code-block:: bash
 
     cd ~/ros2_ws
-    colcon build --packages-up-to ardupilot_gz_bringup --cmake-args -DBUILD_TESTING=ON 
+    colcon build --packages-up-to ardupilot_gz_bringup
 
 If you'd like to test your installation, run:
 
@@ -77,4 +77,10 @@ Examples available
 Here is a demo video of Ardupilot working with ROS 2 and Gazebo:
 
 ..  youtube:: HZKXrSAE-ac
-    :width: 100%
+    :width: 100%
+
+
+Next up
+=======
+
+Run Cartographer SLAM in :ref:`Cartographer SLAM with ROS 2 in SITL <ros2-cartographer-slam>`
diff --git a/dev/source/docs/ros2-sitl.rst b/dev/source/docs/ros2-sitl.rst
@@ -25,7 +25,10 @@ If the ROS 2 topics aren't being published, set the ardupilot parameter DDS_ENAB
 
 For more information refer to `ardupilot/Tools/ros2/README.md <https://github.com/ArduPilot/ardupilot/tree/master/Tools/ros2#readme>`__. There you can find examples of launches using serial connection instead of udp, as well as a step-by-step breakdown of what the launch files are doing.
 
-Once everything is running, you can now interract with ArduPilot through the ROS 2 CLI.
+ROS 2 CLI
+=========
+
+Once everything is running, you can now interact with ArduPilot through the ROS 2 CLI.
 
 .. code-block:: bash
 
@@ -36,3 +39,18 @@ Once everything is running, you can now interract with ArduPilot through the ROS
     ros2 node info /ardupilot_dds
     # Echo a topic published from ArduPilot
     ros2 topic echo /ap/geopose/filtered
+
+MAVProxy
+========
+
+To test and fly around, you can launch a `mavproxy <https://ardupilot.org/dev/docs/copter-sitl-mavproxy-tutorial.html>`__ instance in yet another terminal:
+
+.. code-block:: bash
+    
+    mavproxy.py --console --map --aircraft test --master=:14550
+
+
+Next up
+=======
+
+Add Gazebo in :ref:`ROS 2 with Gazebo <ros2-gazebo>`
diff --git a/dev/source/docs/ros2.rst b/dev/source/docs/ros2.rst
@@ -58,7 +58,7 @@ And finally, build your workspace:
 .. code-block:: bash
 
     cd ~/ros2_ws
-    colcon build --packages-up-to ardupilot_dds_tests --cmake-args -DBUILD_TESTING=ON
+    colcon build --packages-up-to ardupilot_dds_tests
 
 If you'd like to test your installation, run: