Proposal: URML, an open-source intent layer for ArduPilot (RFC for maintainer comment)

General
1

Hello ArduPilot maintainers,

URML is an open-source, vendor-neutral language for describing robot intent that compiles down to whatever substrate sits below: ROS 2, PX4, AUTOSAR, OPC UA, and others. Apache 2.0. Spec, validator, and reference runtimes live at GitHub - URML-MARS/URML: The specification, reference runtimes, validator, LLM bridge, and conformance suite for URML — an open language for robot intent. · GitHub .

URML already depends on ArduPilot/pymavlink (via our PX4 reference runtime) and already targets ArduSub via MAVLink in our marine reference runtime. RFC-0041 proposes a sibling ardupilot-runtime adapter package that mirrors the PX4 adapter for ArduCopter, ArduPlane, and ArduRover, with no spec change on URML’s side and no firmware-side dependency on ArduPilot.

The full RFC is here:

https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0041-ardupilot-integration.md

We are looking for your input before we ship the adapter package on:

  1. Per-family adapter classes vs a single adapter keyed on the connected vehicle’s MAV_TYPE. The RFC proposes per-family classes for ergonomic parity with our PX4 and ArduSub adapters; we are open to either.
  2. Rover and boat coverage. URML maps ArduRover to differential / ackermann / tracked today. Does that cover the deployable surface, or should we add a boat or surface_vessel value for ArduRover surface-vessel mode?
  3. MAVLink dialect. Target ardupilotmega for vendor extensions, or stay strictly on common for portability? Our PX4 adapter stays on common.
  4. SITL pinning. Is there a pinned ArduCopter SITL configuration we should use as the URML conformance lane’s reference, similar to how our marine runtime pins an ArduSub SITL configuration?
  5. Downstream wiki reference. Would ArduPilot be open to a link from your wiki to URML’s conformance run for any URML program validated against an ArduPilot SITL configuration?

Happy to break any of these into separate Issues if that fits ArduPilot’s process better, or to move the conversation to discuss.ardupilot.org if that is the right forum.

URML is independent open-source work, not a commercial integration; nothing on our side is gated by your response.

Thanks for any time you can spare.

Ido Yahalomi
URML maintainer
greenvh@gmail.com