Installation

AuterionOS 3.0 or later is required to use Auterion SDK.

Installation in an AuterionOS app

Installing Auterion SDK in an app is the same as installing it locally.

We recommend using the Auterion app base Docker image auterion/app-base:v2 for building apps.

To add Auterion SDK to your app, add the following lines to your apps' Dockerfile:

RUN curl -1sLf 'https://dl.cloudsmith.io/public/auterion/public/setup.deb.sh'| sudo -E bash
RUN apt update && apt install -y ros-humble-auterion-sdk=1.13.1-0jammy

If you encounter an error like this during the Docker build:

W: GPG error: http://packages.ros.org/ros2/ubuntu jammy InRelease: The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics <[email protected]>
E: The repository 'http://packages.ros.org/ros2/ubuntu jammy InRelease' is not signed.

Add the following lines to your Dockerfile to rotate the expired ROS 2 repository key:

# Rotate expired ROS 2 repository key
# This can be removed with upcoming app-base:v3
RUN rm /etc/apt/sources.list.d/ros2.list && \
    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Compatibility

Incompatibilities between the version of PX4 on your Skynode and Auterion SDK of your application can result in runtime errors or flight modes not registering.

To maintain compatibility between your app and the FMU, ensure that the versions of the following packages correspond to the AOS/APX4 version in use:

• ros-humble-auterion-sdk

• ros-humble-px4-ros2-cpp

• ros-humble-px4-msgs

• ros-humble-auterion-core-msgs

AOS	APX4	ros-humble-auterion-sdk	ros-humble-px4-ros2-cpp	ros-humble-px4-msgs	ros-humble-auterion-core-msgs
v4.3.0	1.16.0-3.3.17	1.15.0	1.6.1	3.3.1	0.0.6
v4.2.0	1.16.0-3.3.1	1.13.1	1.6.1	3.3.1	0.0.6
v4.1.12	1.15.0-3.2.12	1.12.1	1.5.2	3.2.13	0.0.6
v4.1.2	1.15.0-3.2.5	1.10.0	1.5.1	3.2.13	0.0.6
v3.7.9	1.15.0-3.2.1	1.7.0	1.4.0	3.2.1	0.0.5
v3.6.14	1.14.0-3.1.1	1.6.6	1.3.0	3.1.1	0.0.5

Installation Example

For example to install the compatible versions for AOS v4.3, we have to use the following Docker command format:

RUN apt update && apt install -y \
        ros-humble-auterion-sdk=1.15.0-0jammy \
        ros-humble-px4-ros2-cpp=1.6.1-0jammy \
        ros-humble-px4-msgs=3.3.1-0jammy \
        ros-humble-auterion-core-msgs=0.0.6-0jammy \
    && \
    apt clean && \
    rm -rf /var/lib/apt/lists/*

Replace the version numbers with the appropriate versions from the compatibility table above based on your AOS version.