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px4_missions package from aruco_tracker_ros2_drones repocustom_messages detector offboard_control_python px4_missions px4_msgs px4_ros_com |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Precision Landing for Pixhawk drones using ROS2 and Computer Vision |
| Checkout URI | https://github.com/regatte/aruco_tracker_ros2_drones.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-11-27 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | computer-vision px4 drones precision-landing aruco-markers autonomous-robots ros2-foxy |
| 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.
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.
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