PX4_ROS_packages

This package provides tools to work with snapdragon over ROS. Before being able to use all these ROS nodes, these dependencies have to be installed.

Package installation

Install the dependencies

sudo apt-get install libspnav-dev libbluetooth-dev libcwiid-dev libusb-dev libeigen3-dev

Install ROS using this. This is the indigo version. Feel freee to install the version of your choice.

Create ROS workspace if needed

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ..
catkin_make

You alse need to have mavros installed on your computer. if not, follow this :

# For Ros Indigo
sudo apt-get install ros-indigo-mavros ros-indigo-mavros-extras
# For Ros Kinteic
sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras

Depending on if Eigen3 has his .cmake file in your current version of cmake, you may need to execute this:

sudo cp /usr/share/cmake-2.8/Modules/FindEigen3.cmake /usr/share/cmake-3.X/Modules/

Where X is your using version of cmake.

If already not done, add the following lines to the end of the .bashrc file:

export ROS_MASTER_URI=http://192.168.1.XX:11311
export ROS_IP=192.168.1.XX

where 'XX' is your own IP.

Clone the current repository not in the src file. The qcontrol_defs package have to be build before the other ROS package

cd ~/catkin_ws
git clone https://github.com/u-t-autonomous/PX4_ROS_packages.git
mv PX4_ROS_packages/qcontrol_defs src/

Then clone the following two catkin_packages and build

cd ~/catkin_ws/src
git clone https://github.com/ros-drivers/joystick_drivers.git
git clone https://github.com/ethz-asl/vicon_bridge
cd ..
catkin_make
source devel/setup.sh

Finally build the rest of the PX4_ROS_packages nodes

cd ~/catkin_ws/
mv PX4_ROS_packages/* src/
catkin_make
source devel/setup.sh

offboard_control package

This sub package handles the low level interaction between the offboard computer and PX4 on the quad. Basically you can send using this package velocity, position , attitude setpoint to the quad. You can also request takeoff, land , switching between mode request etc...

Before launching this node, be sure the PX4 is launch on quad side and that vicon is already tracking the quad.

ssh linaro@192.168.1.XX
sudo ./px4 mainapp.config

where 'XX' is the IP of your snapdragon and the password for connection is linaro.

Now launch the node that interacts with the quad

roslaunch offboard_control quadX_offboard.launch

where X is the vicon number you assigned to the quad. (More mprovement have to be taken her !!! Documentation will change)

When offboard_node is launched, the quad can be used via any other ros node.

A C++ example can be find HERE(joy control of the quad)

A Python example can be find here HERE(global methods for taking off,landing, switch to poctl, speedctl ...)

An example can be controlling the quad using a joy. Just launch the predefined launch file

roslaunch offboard_control quadX_joy.launch

where X is the name of the quad in vicon

example of launch file can be modified for a specific quad name or quad IP or udp mavros port. Just look at the ones in this repository if looking for example. Parameter are pretty self explanatory.

Reactive controller test