mavros_auto_mission

ROS package (tested in ROS Kinetic) for sending a mission via MavLINK to an aerial vehicle with a PX4 or an ArduPilot autopilot system. It is also able to auto remove failsafes, arm the motors, enter Mission mode and complete the mission autonomously.

Test with a simulated PX4 fixed-wing aircraft in this video:

Dependencies

Besides ROS, both MavROS and PX4 Firmware must be installed

Usage

With PX4 SITL and Gazebo

1. Update your takeoff location via environment variables as explained here. For the RC airfield in the video, the coordinates are:

export PX4_HOME_LAT=40.091754
export PX4_HOME_LON=-3.695714

2. Launch PX4 and MavROS:

roslaunch px4 mavros_posix_sitl.launch 

3. Launch mavros_auto_mission:

roslaunch mavros_auto_mission mavros_mission_px4.launch 

With ArduPilot in a real aircraft

1. Connect to the real ArduPilot (Copter, Plane or Rover) via MavLink using a telemetry radio (3DR or similar).

2. Launch mavros_auto_mission:

roslaunch mavros_auto_mission mavros_mission_apm.launch