autmav / px4_ros2_sim

Px4 Simulation with Gazebo and ROS2 RTPS

Setup

Use uORB custom messages with ROS2

If you want to use other msgs beside default rtps msgs for ROS2, add them to urtps_bridge_topics.yaml, in:

cd px4_ros2_sim/PX4-Autopilot/msg/tools

python3 uorb_to_ros_urtps_topics.py -i urtps_bridge_topics.yaml -o ../../../px4_ros_com_ros2/src/px4_ros_com/templates/urtps_bridge_topics.yaml

cd ../.. 

make clean 

Then fallow the instructions below

Usage

To run the simulation and a sample mission, run the following parts.

Running PX4 Simulation

# In a new termianl
# Starting in the root of repo

cd ~/px4_ros2_sim/PX4-Autopilot/

make px4_sitl_rtps gazebo

Running micrortps

# In a new termianl

cd px4_ros2_sim/px4_ros_com_ros2/ #Or Where ever the file is and then cd

source install/setup.bash

micrortps_agent -t UDP

Running a Sample Mission

# In a new termianl

cd px4_ros2_sim/px4_ros_com_ros2/ #Or Where ever the file is and then cd

source install/setup.bash

#For Vel CMD
ros2 run px4_missions offBoardRTPS_Vel

#For Vel Pose
ros2 run px4_missions offBoardRTPS_Pose

Acknowledgement