xiaojiean / uav_ros_px4_navigation

SLAM and 2D/3D Navigation of UAV using ROS, Gazebo, PX4, Mavlink, MAVROS

UAV_ROS_PX4_Navigation

This project is based on ROS "Melodic", and Gazebo 9

1. Go to home directory and clone the project:

$ cd
$ git clone https://github.com/okarimpour/UAV_ROS_PX4_Navigation.git --recurse-submodules 

2. Add "control_toolbox" to the workspace and build it from source:

$ rosdep install --from-paths src --ignore-src --rosdistro melodic -y

3. build:

$ catkin clean --all -y
$ catkin build

Sidenote: If you are having problem with build:

$ cd UAV_ROS_PX4_Navigation/logs/px4
$ vim build.make.XXX.log

# Most likly you are missing packaging so:
$ pip3 install --user empy numpy keras packaging
$ pip install --user empy numpy keras packaging
$ sudo apt-get install libgstreamer-plugins-base1.0-dev

4. Bringing up jmavsim:

$ cd UAV_ROS_PX4_Navigation/src/Firmware/
$ make px4_sitl jmavsim
pxh> commander takeoff

To fix "make px4_sitl jmavsim" errors caused by using Java 11:

$ sudo apt install openjdk-8-jdk
$ sudo update-alternatives --config java # choose 8
$ cd ~/catkin_ws/src/Firmware
$ rm -rf Tools/jMAVSim/out

5. Bringing up Gazebo:

$ make px4_sitl gazebo

To fix the "make px4_sitl gazebo" errors:

$ sudo apt install libgstreamer1.0-dev
$ sudo apt install gstreamer1.0-plugins-good
$ sudo apt install gstreamer1.0-plugins-bad
$ sudo apt install gstreamer1.0-plugins-ugly

6. Let's check the off board node on Gazebo:

$ source ~/UAV_ROS_PX4_Navigation/devel/setup.bash
$ roscore

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

#launch Gazebo with the drone on a new terminal
$ cd UAV_ROS_PX4_Navigation/src/Firmware/
$ DONT_RUN=1 make px4_sitl_default gazebo
$ source ~/UAV_ROS_PX4_Navigation/devel/setup.bash
$ source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
$ export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
$ export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
$ roslaunch px4 posix_sitl.launch

#Run the offb_node on a new terminal
$ source ~/UAV_ROS_PX4_Navigation/devel/setup.bash
$ rosrun mavros offb_node

#Echo the states on a new terminal
$ source ~/UAV_ROS_PX4_Navigation/devel/setup.bash
$ rostopic echo /mavros/state

#Check the connections using rqt_graph on a new terminal
$ source ~/UAV_ROS_PX4_Navigation/devel/setup.bash
$ rosrun rqt_graph rqt_graph