Mavlink Flight Manager

To create a flight manager framework with mavsdk and fastdds, using OMG idl generated ROS2 types

Mavlink + DDS + Foxglove

Installation and Information

Generation of ROS2 Fast-DDS message types

Do look into the external/msgs_idl submodule to understand more

Dependencies

mavsdk

# Download mavsdk
cd
git clone https://github.com/mavlink/MAVSDK.git mavsdk
cd mavsdk
git checkout v1.4.13
git submodule update --init --recursive
cmake -DCMAKE_BUILD_TYPE=Debug -Bbuild/default -H.
cmake --build build/default -j4
sudo cmake --build build/default --target install

foxglove-websocket

Follow the guide in https://github.com/matthewoots/foxglove-websocket

Setup

git clone git@github.com:matthewoots/mav_flight_manager.git --recursive
cd mav_flight_manager
cmake -Bbuild -H.
cmake --build build -j4
cd build
# run the executables below

Run

# launcher executable runs both real and sim
#   - launcher will launch the ./flight_manager internally depending on the settings
#   - to test it out, launch px4 sitl, and the flight manager will pick up the mavlink system
# example
./launcher udp://127.0.0.1:14580 sim 1
./launcher --help # To find out more on how to launch

# visualization server (foxglove)
./foxglove_visual

# manager to command mission
./mission_manager 

# manager to command mission
./mavlinkProxy <type-of-conenction> <number-of-drones>
./mavlinkProxy --help # To find out more on how to launch

Extra notes

To know how to generate mavlink messages to be used in c++ modules

git clone git@github.com:mavlink/mavlink.git
cd mavlink
git checkout 1.0.12
git submodule update --init --recursive
python3 -m pymavlink.tools.mavgen --lang=C++11 --wire-protocol=2.0 --output=generated/include/mavlink/v2.0 message_definitions/v1.0/common.xml