4 Big Fans Presentation

Link to Presentation

To launch the drone:

Remote SSH to Jetson:

ssh rob498@10.42.0.113
cd 4bf_drone/
source devel/setup.sh

If devel/ does not exist:

cd 4bf_drone/
catkin build

Terminal 1: Arm the drone in offboard mode

roslaunch bringup bringup.launch

Terminal 2:

To launch the drone

rosservice call rob498_drone_13/comm/launch

To land the drone

rosservice call rob498_drone_13/comm/land

Camera Usage

Realsense T256

roslaunch realsense2_camera rs_t265.launch

You can check what data is available in another terminal using

rostopic list /camera

Simuluation

Setup:

Sources to follow:

• https://www.youtube.com/watch?v=jBTikChu02E
• https://www.youtube.com/watch?v=rxt0aBnBeJI&t=604s

Notes:

• Don't USE DOCKER!!!
• ROS version does not need to match.
• Instead of jMAVSim in the video, use Gazebo
  • https://dev.px4.io/v1.11_noredirect/en/simulation/ros_interface.html

Run the simulation:

3 terminal needed in total:

Terminal 1:

cd 4bf_drone/PX4-Autopilot/
make px4_sitl_default gazebo

Notes: Since the PX4-Autopilot package is large for jetson, it is not pushed to this repo. Please download it here

Terminal 2:

roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557"

Terminal 3:

cd 4bf_drone/PX4-Autopilot/integrationtests/python_src/px4_it/mavros/
python3 mission_test.py MC_mission_box.plan