px4_ros2_xrcedds repository

px4_ros2_xrcedds repository

px4_ros2_xrcedds repository

px4_ros2_xrcedds repository

my_package px4_offboard

Repository Summary

Checkout URI https://github.com/viniciusabrao/px4_ros2_xrcedds.git
VCS Type git
VCS Version master
Last Updated 2023-05-31
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)

Packages

Name Version
my_package 0.0.0
px4_offboard 0.0.0

README

RGBD camera simulation:

This package spawn the iris drone with RGBD camera and publish the image in the correspondent topics.

1- Edit sdf files to include the camera plugin:

cd /home/abrao/dev/px4_ros2/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris

  • Delete iris.sdf file located in the directory above.

  • Copy the content of backup_iris.sdf.jinja and replace in iris.sdf.jinja file located in the directory above. The file backup_iris.sdf.jinja can be found at: /px4_ros2_xrcedds/my_package/models/iris

2- Terminal 1: Make PX4 and roslaunch the gazebo simulation:

cd ~/dev/px4_ros2/PX4-Autopilot
DONT_RUN=1 make px4_sitl_default gazebo-classic_iris 
source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/simulation/gazebo-classic/sitl_gazebo-classic
roslaunch px4 posix_sitl.launch

3- Terminal 2:

MicroXRCEAgent udp4 -p 8888

4- Terminal 3:

  • First time: Install ros1 bridge
sudo apt update
sudo apt upgrade
sudo apt install ros-foxy-ros1-bridge

  • Run ros1 bridge:
source /opt/ros/foxy/setup.bash
ros2 run ros1_bridge dynamic_bridge

ps: Use the command bellow to bridge all the topics, including some we does not need.

ros2 run ros1_bridge dynamic_bridge –bridge-all-topics

5- Terminal 4: Run the offboard control example:

cd ~/dev/px4_ros2/ros_packages
source /opt/ros/foxy/setup.bash
colcon build
source install/local_setup.bash
ros2 launch px4_offboard offboard_position_control.launch.py

6- (OPTIONAL) Terminal 5: to check rgbd camera topics

  • ROS1
rostopic list

  • ROS2
source /opt/ros/foxy/setup.bash
ros2 topic list 

  • Only the topics we are subscribing in the step 5 is visible in ROS2. If necessary:
source /opt/ros/foxy/setup.bash
ros2 topic echo /camera/color/image_raw sensor_msgs/msg/Image 

my_package

This ROS2 package spawn the iris drone with RGBD camera and publish the image in the correspondent topics.

TODO: to run the PX4 in the ROS2 launch file

cd ~/dev/px4_ros2/ros_packages
source /opt/ros/foxy/setup.bash
colcon build
source install/local_setup.bash
ros2 launch my_package spawn_camera.launch.py

px4_offboard

REFERENCE: https://github.com/Jaeyoung-Lim/px4-offboard This is an example of code for takeoff, move and land the drone with PX4 and ROS2 via XRCE-DDS.

1 - Simulation setup:

https://youtu.be/f5qEXDTZOug

2- Terminal 1: Open Gazebo simulation with PX4

cd ~/dir/PX4-Autopilot
make px4_sitl gazebo_iris

(Note that make px4_sitl gazebo no longer works).

3- Open QGroundControl to monitore the drone

4- Terminal 2: Run the micro-ROS agent:

cd ~/dir/ros_packages
source /opt/ros/foxy/setup.bash
source install/local_setup.bash
ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888

5- Terminal 3: Run the example code:

cd ~/dir/ros_packages/src/px4-offboard/px4_offboard

Replace the file ‘offboard_control.py’ from this repository to the directory above and build:

cd ~/dir/ros_packages
source /opt/ros/foxy/setup.bash
colcon build
source install/local_setup.bash
ros2 launch px4_offboard offboard_position_control.launch.py

CONTRIBUTING

No CONTRIBUTING.md found.

px4_ros2_xrcedds repository

px4_ros2_xrcedds repository

px4_ros2_xrcedds repository

px4_ros2_xrcedds repository

px4_ros2_xrcedds repository

px4_ros2_xrcedds repository

px4_ros2_xrcedds repository

px4_ros2_xrcedds repository

px4_ros2_xrcedds repository

px4_ros2_xrcedds repository

px4_ros2_xrcedds repository

px4_ros2_xrcedds repository

px4_ros2_xrcedds repository

px4_ros2_xrcedds repository

px4_ros2_xrcedds repository