professorfabioandrade / wpg

#resumo

cd ~/src/Firmware

sudo make px4_sitl_default gazebo_iris PX4_SITL_WORLD:=$(pwd)/Tools/sitl_gazebo/worlds/uneven.world

roslaunch mavros px4.launch fcu_url:='udp://:[email protected]:14555'

rosrun wpg fuzzy_v.py

rosrun rqt_graph rqt_graph

rostopic echo ...

#aliases: alias cdpx4="cd ~/src/Firmware" alias makepx4="sudo make no_sim=1 px4_sitl_default gazebo" alias gazset="source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default" alias gazinit="roslaunch gazebo_ros empty_world.launch world_name:=$(pwd)/Tools/sitl_gazebo/worlds/iris.world" alias rossim="roslaunch mavros px4.launch fcu_url:='udp://:[email protected]:14555'"

instalação completa

cd ~ mkdir src cd src git clone https://github.com/piradata/Firmware.git cd Firmware/Tools/setup/ source ubuntu.sh cd ~ mkdir code cd code wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh source ubuntu_sim_ros_melodic.sh sudo pip2 install pymavlink sudo pip2 install px4tools sudo apt install python-mpltoolkits.basemap sudo pip2 install pymavlink sudo pip2 install PySimpleGUI27 sudo pip2 install typing

deletar depois da pasta de usuario arquivos deixados pelo script de instalação do melodic

iniciando simulação

para modificar o mundo mude o arquivo /Tools/sitl_gazebo/worlds/iris.world export PX4_HOME_LAT=0.0 export PX4_HOME_LON=0.0 export PX4_HOME_ALT=0.0 export PX4_SIM_SPEED_FACTOR=1

cdpx4 makepx4 cdpx4

source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default roslaunch gazebo_ros empty_world.launch world_name:=$(pwd)/Tools/sitl_gazebo/worlds/iris.world

OU

sudo make px4_sitl_default gazebo_iris PX4_SITL_WORLD:=$(pwd)/Tools/sitl_gazebo/worlds/uneven.world

conectando ao simulador

rossim

rodando codigos

rosrun wpg ...

vendo nós

rosrun rqt_graph rqt_graph

vendo posicao

rostopic echo /mavros/local_position/pose rostopic echo /mavros/local_position/odom

on px4cmd

commander takeoff commander land

#Modo de controle rosrun mavros mavsys mode -c OFFBOARD rosrun mavros mavsafety arm rosrun mavros mavcmd land 0 0 0 0

#publish position on ros: rostopic pub -r 20 /mavros/setpoint_position/local geometry_msgs/PoseStamped '{header: {stamp: now, frame_id: ""}, pose: {position: {x: 0.0, y: 0.0, z: 1.0}, orientation: {w: 1.0}}}'

#joy install sudo apt-get install ros-melodic-joy sudo jstest /dev/input/jsX sudo chmod a+rw /dev/input/jsX rosparam set joy_node/dev "/dev/input/jsX" rosrun joy joy_node

#controlar drone com teclado roslaunch mavros_extras teleop.launch teleop_args e roslaunch mavros_extras teleop.launch

para conectar na FCU Real

sudo chmod 666 /dev/ttyUSB0 roslaunch mavros px4.launch fcu_url:=/dev/ttyUSB0:57600

pega dados da fcu real para o mavros

rosservice call /mavros/set_stream_rate 0 10 1

configura mensagens personalizadas no matlab

folderpath = fullfile('~/catkin_ws','src') rosgenmsg(folderpath) addpath('/home/piradata/catkin_ws/src/matlab_gen/msggen') savepath REINICIAR MATLAB rosmsg list

gazebo help

ArduPilot/ardupilot_wiki#1001

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criar script python ou cpp no ros e ativa-lo

editar mundo iris para ter um chão decente

/home/guilherme/catkin_ws/src/mavros/test_mavros/launch/px4/iris_empty_world_offboard_ctl.launch /home/guilherme/src/Firmware/Tools/sitl_gazebo/worlds/iris.world