[MAVROS] Tutorial - SITL with iris

이 글은 ROS melodic과 MAVROS를 설치하고 이를 검증하기위해 적었습니다.

This post is written for installing ROS melodic and MAVROS, and verifying them.

 

1. Install ROS for PX4

dev.px4.io/v1.9.0/en/setup/dev_env_linux_ubuntu.html

source ubuntu_sim_ros_melodic.sh

 

2. build mavros

cd ~/catkin_ws/src

catkin build

 

3. build mavros sample for verifying[1]

-> Position Control using mavros

cd ~/catkin_ws/src

git clone https://github.com/Jaeyoung-Lim/modudculab_ros.git

catkin build modudculab_ros

-> but, it doesnt work.

-> add dependency to package.sml and find_package list

gedit modudculab_ros/CMakeLists.txt # add mavros_msgs

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  mavros_msgs
)

gedit modudculab_ros/package.xml # add mavros_msgs

  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>mavros_msgs</build_depend>
  <run_depend>roscpp</run_depend>
  <run_depend>rospy</run_depend>
  <run_depend>std_msgs</run_depend>
  <run_depend>mavros_msgs</run_depend>

-> then type below command

catkin build modudculab_ros

4. make px4

-> if you have already them, dont have to do below, but do make.

cd ~/src/Firmware

make px4_sitl_default gazebo

-> it gazebo and iris quadrotor appear, the make process works.

 

5. test mavros via modudculab_ros[1]

-> change fcu_url for sitl

-> Remarked line for HITL

gedit modudculab_ros/launch/ctrl_pos_gazebo.launch

<arg name="fcu_url" default= "udp://:14540@127.0.0.1:14557">
<!-- <arg name="fcu_url" default= "/dev/ttyUSB0:921600" /> -->

-> Terminal 1 : turn on sitl on gazebo

make px4_sitl_default gazebo

(if you wanna run jmavsim, not gazebo, type following line on your console)

make px4_sitl jmavsim

-> Terminal 2 : turn on ROS

roscore

-> Terminal 3 : turn on mavros publisher (Position Setpoint)

roslaunch modudculab_ros ctrl_pos_gazebo.launch

-> Terminal 4 : arming

rosrun mavros mavsafety arm

-> Terminal 4 : change flight mode to OFFBOARD

rosrun mavros mavsys mode -c OFFBOARD

-> if you process this line, you may watch below the video.

simplescreenrecorder-2020-11-16_20.12.24.mkv

1.23MB

 

 

Node Graph

Node Graph with Topics

 

 

This post is refered below :

[1] Software-in-the-loop (SITL), dnddnjs.gitbooks.io/drone-autonomous-flight/content/software_in_the_loopsitl.html

[2] More about SITL, dnddnjs.gitbooks.io/drone-autonomous-flight/content/more_about_sitl.html

[3] Development Environment on Ubuntu LTS / Debian Linux, dev.px4.io/v1.9.0/en/setup/dev_env_linux_ubuntu.html

 

Thanks to authors and ancestors.