ROS index logo ROS Index
  1. Home
  2. Packages
  3. px4_missions
 
No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.

px4_missions package from aruco_tracker_ros2_drones repo

custom_messages detector offboard_control_python px4_missions px4_msgs px4_ros_com

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/regatte/aruco_tracker_ros2_drones.git
VCS Type git
VCS Version main
Last Updated 2023-11-27
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

  • david

Authors

No additional authors.
ROS2_WS_PKG's/px4_missions/README.md

px4_missions

The drone take’s off and flies a square and lands at the takeoff point.

To run Gazebo simulator with PX4 SITL firmware you need to run this command in PX4 firmware directory.

make px4_sitl_rtps gazebo

To start communication bridge between ROS 2 (DDS) and PX4 (uORB) you need to source ROS 2 workspace (installed according to install.md) and then run microRTPS agent.

source ~/px4_ros2_sim/px4_ros_com_ros2/install/setup.bash
micrortps_agent -t UDP

To run ROS2 mission you need to source ROS 2 workspace and than run ROS 2 node.

source ~/px4_ros2_sim/px4_ros_com_ros2/install/setup.bash
ros2 run px4_missions simpleMission

Run simulation with multiple wehicles

To start multiple wehicle simulation (multiple instances of PX4 firmware) with gazebo simulator run command in PX4-Autopilot directory:

./Tools/gazebo_sitl_multiple_run.sh -t px4_sitl_rtps -m iris -n 4

To start communication bridge between ROS 2 (DDS) and PX4 (uORB) you need to run microRTPS agent for all 4 wehicles with defined MAVlink ports. Each microRTPS aget run in separed terminal.

source ~/px4_ros2_sim/px4_ros_com_ros2/install/setup.bash
micrortps_agent -t UDP -r 2020 -s 2019 -n vhcl0
micrortps_agent -t UDP -r 2022 -s 2021 -n vhcl1
micrortps_agent -t UDP -r 2024 -s 2023 -n vhcl2
micrortps_agent -t UDP -r 2026 -s 2025 -n vhcl3

NOTE:

This tutorial starts simulation with 4 drones in Gazebo simulator

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
ament_lint_auto
ament_lint_common
rclcpp
std_msgs
px4_msgs
geometry_msgs
sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged px4_missions at Robotics Stack Exchange

No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.