Skip to content

Latest commit

 

History

History
288 lines (139 loc) · 4.95 KB

px4.md

File metadata and controls

288 lines (139 loc) · 4.95 KB

Building PX4

On Ubuntu 22.04, ROS2 humble and Gazebo Harmonic (gz sim --version)

git clone https://github.com/PX4/PX4-Autopilot.git --recursive

Build (Using a Simulator)

Gazebo SITL (Software In The Loop)

Run the followings:

make px4_sitl gz_x500

The full syntax to call make with a particular configuration and initialization file is:

make [VENDOR_][MODEL][_VARIANT] [VIEWER_MODEL_DEBUGGER_WORLD]

VENDOR_MODEL_VARIANT: (also known as CONFIGURATION_TARGET)

  • VENDOR: px4, aerotenna, airmind, etc
  • MODEL: The board model "model": sitl, fmu-v2, fmu-v3, fmu-v4, fmu-v5, navio2, etc.
  • VARIANT: particular configurations,Most commonly this is default, and may be omitted.

list of all available CONFIGURATION_TARGET options:

make list_config_targets

VIEWER_MODEL_DEBUGGER_WORLD

  • VIEWER: gz, gazebo, jmavsim, none. if you want to launch PX4 and wait for a simulator (jmavsim, Gazebo, Gazebo Classic, or some other simulator). For example, make px4_sitl none_iris launches PX4 without a simulator (but with the iris airframe).
make px4_sitl jmavsim

  • MODEL: The vehicle model to use (e.g. iris (default), rover, tailsitter, etc). The environment variable PX4_SIM_MODEL will be set to the selected model

  • WORLD: (Gazebo Classic only).

Refs: 1

You can also specify the world using the PX4_GZ_WORLD environment variable:

PX4_GZ_WORLD=windy make px4_sitl gz_x500

List of some of the avilable vehicles

  • make px4_sitl gz_x500
  • make px4_sitl gz_x500_depth
  • make px4_sitl gz_x500_vision
  • make px4_sitl gz_x500_lidar
  • make px4_sitl gz_standard_vtol
  • make px4_sitl gz_rc_cessna
  • make px4_sitl gz_advanced_plane
  • make px4_sitl gz_r1_rover
  • make px4_sitl gz_rover_ackermann

All vehicle models (and worlds) are included as a submodule from the Gazebo Models Repository repository.

Refs: 1

Standalone Mode

In this mode PX4 SITL and Gazebo are started separately in their own terminals.

cd ~/workspace/PX4-Autopilot/Tools/simulation/gz/
python simulation-gazebo

or

python simulation-gazebo --world walls

then

PX4_GZ_STANDALONE=1 make px4_sitl gz_x500

more here

ROS2

git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
cd Micro-XRCE-DDS-Agent
mkdir build
cd build
cmake ..
make
sudo make install
sudo ldconfig /usr/local/lib/

installation:

make -j20 install DESTDIR=~/

LD_LIBRARY_PATH=~/usr/local/lib

cd ~/usr/local/bin

./MicroXRCEAgent udp4 -p 8888

First

cd ~/ros2_ws/src/

then

git clone [email protected]:PX4/px4_msgs.git
[email protected]:PX4/px4_ros_com.git

and finally:

cd ~/ros2_ws/
colcon build

gz topic -i -t /world/default/model/x500_lidar_0/link/link/sensor/lidar_2d_v2/scan/points

/world/default/model/x500_lidar_0/link/link/sensor/lidar_2d_v2/scan

Remove the wrong version (for Ignition Fortress)

sudo apt remove ros-humble-ros-gz

Install the version for Gazebo Garden

sudo apt install ros-humble-ros-gzharmonic

Refs: 1

https://docs.px4.io/main/en/test_and_ci/docker.html

enable access to xhost from the container

xhost +

Run docker and open bash shell

docker run -it --privileged
--env=LOCAL_USER_ID="$(id -u)"
-v ~/workspace/PX4-Autopilot:/src/PX4-Autopilot/:rw
-v /tmp/.X11-unix:/tmp/.X11-unix:ro
-e DISPLAY=$DISPLAY
--network host
--name=px4-ros px4io/px4-dev-base-jammy:latest bash

cd src/PX4-Autopilot #This is <container_src> make px4_sitl_default gazebo-classic

start the container

docker start -i px4-ros

open a new bash shell in this container

docker exec -it px4-ros bash

cd /src/PX4-Autopilot/ source /opt/ros/noetic/setup.sh

https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/quick_start.html

https://docs.px4.io/main/en/simulation/ros_interface.html

roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14557"

https://www.youtube.com/watch?v=jBTikChu02E&list=PLYy2pGCdhu7xEaNN8krzAKxv74L1mD4OV&index=5

export GZ_SIM_RESOURCE_PATH=/home/behnam/workspace/PX4-Autopilot/Tools/simulation/gz/worlds:$GZ_SIM_RESOURCE_PATH

PX4_SITL_WORLD=/home/behnam/workspace/PX4-Autopilot/Tools/simulation/gz/worlds/baylands.sdf make px4_sitl gz_x500_depth

PX4_SITL_WORLD=/home/behnam/workspace/PX4-Autopilot/Tools/simulation/gz/worlds/baylands.sdf make px4_sitl gz_x500_depth

ign topic -l

ign topic -i -t /camera Publishers [Address, Message Type]: tcp://172.17.0.1:46765, gz.msgs.Image

ros2 run ros_ign_bridge parameter_bridge /example_topic@std_msgs/msg/String[ignition.msgs.StringMsg

roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14557"