YoUNG824 / rospy_offboard_node

Create an offboard node in ros to switch px4 to offboard mode

It's a Python version

Introduction

Create an offboard node in ros to switch px4 to offboard mode

Properation

cd $HOME
mkdir src

cd ~/src
git clone https://github.com/PX4/Firmware.git
cd Firmware
make px4_fmu-v4_default

cd ~/src
mkdir -p catkin_ws/src
cd catkin_ws
catkin_init_workspace
cd src
git clone https://github.com/mavlink/mavros.git
git clone https://github.com/mavlink/mavlink.git
cd ..
catkin build

cd ~/src/catkin_ws/src
git clone  https://github.com/YoUNG824/rospy_offboard_node.git
cd ..
catkin build

Run

run pixhawk connection(MAVROS)

source ~/src/catkin_ws/devel/setup.bash
roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557"

run pixhawk&gazebo

cd ~/src/Firmware
make px4_sitl gazebo_iris

switch pixhawk to offboard mode

source ~/src/catkin_ws/devel/setup.bash
cd ~/src/catkin_ws/src/rospy_offboard_pkg/src
chmod +x offboard.py
rosrun offboard_pkg offboard_node