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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:
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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.
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Video 08: Create ROS node mission code. .cpp code that runs a mission.
I will add the port numbers later.
24.1011 Wiki, Gdrive, Youtube, ZiptieAI.com, ZiptieAI docs. The author is looking for a job!
- The race 24.0818
- Why (you need) ZiptieAI
- Why (I created) ZiptieAI
- Wiki organization (6 epics) (outdated)
- Blog (latest)
- Conferences 24.0801
(0) Reference
EPIC 1 - Build/fly FPV drone
(1) FPV simulators (inav notes 0608)
- 2.0 Technical overviews
- 2.1 MVP (min viable platform)
- 2.2 GPS
- 2.3 Video
- 2.4 Carbon frame
- 2.5 Missions
- 2.6 Tuning (new)
- 2.7 Post-crash rebuild 24.0620
(3) SBeeF405/BF (1b)
(4) SBeeF405/AP (1c)
EPIC 2 - Build/fly Pixhawk drone
(5) Pix6c/PX4 (2a)
(6) Pix6c/AP (2b)
EPIC 3 - Add AI to Pixhawk drone
(7) AI cc + cam
(8) AI CC+FW
- (8a) AI Nano PX4
- (8b) AI Nano AP
- (8c) AI PI PX4
- (8d) AI PI AP
- 9.0 SIH NANO/PX4 24.0703 (WORKS!)
EPIC 4 – Basic Autonomy
(11) FC_Mavlink_API (via CC/GCS APIs) (5.3)
(13c) CC autonomy algorithms
EPIC 5 – Advanced Autonomy
(20) Kalman KK (+Python,vectornav)
(14) Firmware dev (5)
(22) AI
- (21) CV
- 13.1 AI Ubuntu
- 13.5 AI STM 24.0430
- 13.6 AI study
EPIC 6 – "Get a job"
(62) SW dev basics (CI/CD,AWS,GIT,Python)
- Part 62 TODO
- 62.1 CI/CD (AWS/GIT)
- 62.1b GCP
- 62.1c Azure
- 62.1d Atlassian
- 62.2 AWS
- 62.2b GCP
- 62.2c Azure
- 62.3 GIT
- 62.4 Python dev
(63) APIs
- 63.0a Demos
- 63.0b Concepts
- 63.1 API only
- 63.2a API + (built-in) doc
- 63.2b Doc only
- 63.3 GraphQL
- 63.4 Test (Postman)
- 63.5 Doc only deploy
- 63.6 API deploy (maybe + built-in doc)
- 63.7 Other (Pypi, SDKs, etc)
- 63.X Notes
EPIC 7 – Mission platforms / special projects
- 15.1 AI Kamikadze 24.0806
(16) Special projects (5.6,5.5)
EPIC 8 – PITS (Pie in the sky)
(12) ROS (+ROSMAV) (was E4)
(14b) Matlab (was E5/4(HITL))
(10) (skip) SITL (total sim) (1) (was E4)