This repository holds the PX4 flight control solution for drones, with the main applications located in the src/modules directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones. This repo Contains a ci platform for simulating px4 drones with gazebo with docker image and container with nvidia graphic card capabilites. There are some startFiles which can initiate different tools and Parameters for running simulation with different tools. Base on discribtion below you can add camera for image prossecing purposes.
PX4-Autopilot has changed so that iris drone can have stereo cameras and depth camera with ros2 compatible plugins. Also, apt world was added to this repo to be able to fly inside a house for mapping and exploration purposes. Beside in startFiles directory, you can use gazebo_modification.sh to modify worlds and models.
For adding your own model, you have to go to these 3 locations and add your model:
- ./Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/ (Add your model here)
- ./src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake (Add your model to Cmake list)
- ./ROMFS/px4fmu_common/init.d-posix/airframes/ (create a new file like samples available and then add it to Cmakelists.txt)
For adding your own world, you have to go to these locations and add your world:
- ./Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds (Add your world file here)
- ./src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake (Add your world to Cmake list)
