Git Repository for use with Intelligent Collaborative System Design Elective at SDU (spring semester 2020)
Maintainer: Oscar Bowen Schofield (obs@mmmi.sdu.dk)
Each Folder has its own respective README.md, be sure to check them out before asking questions.
Ensure the following are installed:
- Ubuntu 16.04/ 18.04 (18.04 recommended)
- ROS Melodic/Kinetic (Melodic recommended)
- PX4 Firmware (V1.8.2 recommended)
- MAVROS
- python-utm
- QGroundControl (for debugging)
- terminator (recommended terminal package, not explicitly required)
Make sure you have followed the PX4 toolchain installation before continuing.
Clone the PX4 Firmware and build the Gazebo-SITL configuration
If the firmware builds and runs correctly, you should be able to run commander takeoff
within the psh shell, causing the UAV to take off, then land.
.
+-- PX4 Firmware
+-- catkin_workspace
| +-- startupScripts
| +-- src
| | +-- RM-ICS20 Repository
| | +-- **Additional nodes**
You will need four terminals to operate the system (may need more for development)
- PX4/Simulation window
cd catkin_workspace/startupScripts
./px4_launch_gazebo.sh
- MAVROS Window
cd catkin_workspace/startupScripts
./launch_mavROS.sh
If successful, the below text should be visible in the terminal
- droneFramework Window
cd catkin_workspace
catkin build
source devel/setup.bash
roslaunch root_framework D4E_auto.launch
- User Input Window
This Assumes catkin_workspace has been previously built
cd catkin_workspace
source devel/setup.bash
rosrun root_framework keypressNode.py