This is a set of ROS nodes and programs that implements a radio communication relay system for 2 UAVs.

Dependencies

1. ROS
2. mavros
3. mavlink

Structure

UAV_Mission_Control_Program/boot: contains scripts to automatically boot the nodes UAV_Mission_Control_Program/msg: contains ROS message definitions UAV_Mission_Control_Program/srv: contains ROS service definitions UAV_Mission_Control_Program/src: contains source code and header files UAV_Mission_Control_Program/include: contains additional header files

Installation

1. System requirements: Ubuntu 14.04 or above
2. Pull from git repository
3. Link UAV_Mission_Control_Program/ to your local catkin workspace
4. Open sysid.h, change system id as needed (depending on whether this node is configures as mom or as son
5. Build
6. Open file UAV_Mission_Control_Program/boot/boot.sh, update PATH_TO_BOOT, PATH_TO_UAVPKG and PORT_VERIFIER to match your local directory names (use absolute path)
7. Open file UAV_Mission_Control_Program/boot/uavboot, update the absolute path to the boot.sh script, and update USER and HOME variables to match your own user name and home directory.
8. Copy UAV_Mission_Control_Program/boot/uavboot to /etc/init.d, so you can start is using service
9. Add the path to PATH_TO_BOOT/boot.sh to /etc/rc.local, so the system starts itself when booting

Possible improvements

1. Possibility to replace boot.sh with roslaunch?
2. Remove or at least centralize the use of hard-coded absolute paths.