10.2 SITL cpp mission as ROS node
24.0624
(24.0508 was "Total sim P2 ROS")
The Gdrive document 10.2_(1.2)_sim-all_ros_node_mission_v44_24.0215.docx (draft) shows how to write a C++ program that becomes a ROS node and sends mission commands to FC via MavROS.
In the diagram below:
-
Video 07: Create ROS node code. @100 catkin dirs in sublime. @140 clone iq_gnc (his api). @210 Add to CMakeLists.txt. square.cpp. (just use gnc_tutorial.cpp, completed version). Creates the ROS node that sends ROS commands to MAVROS (MAVROS sends Mavlink commands to FC). @850 catkin build. source bashrc. @930 startup sequence 1 Roslaunch iq_sim runway.launch (starts GAZ and the non-existent ROS master) 2 startsitl.sh 3 roslaunch iq_sim apm.launch (MavROS) 4 rosrun iq_gnc square.cpp @1135 takeoff.
-
Video 08: Create ROS node mission code. .cpp code that runs a mission.
I will add the port numbers later.
