px4-ros2-drone-simulation

This repo allows the user to set up, build and run a simulation using:

• An Iris drone running PX4 firmware.
• The PX4-FastRTPS bridge to communicate with a ROS2 program that controls the Iris drone.
• The Iris drone is simulated using Gazebo.

The versions of software used are:

• Ubuntu 18.04LTS.
• Gazebo 11.
• ROS2 Eloquent.
• The PX4 repos Firware, px4_msgs, px4_ros_com, sitl_gazebo. Git branches of these repos are used to fix revisions. There is also a small fix on the PX4 Firmware branch.

IMPORTANT NOTES

Running the Gazebo server and client on a PC requires a graphics card with at least 4GB of RAM. I tried an old 1GB card which worked but was painfully slow. I then used a laptop with an NVidia M2000 4GB card and it worked well.

Install and run

Docker install and run instructions can be found in docker/README.md.

Native install and run instructions can be found in scripts/README.md.

References

Most of the inspiration for this work was taken from https://github.com/osrf/drone_demo that explained how to simulate a drone in Gazebo. There are also countless uses of the following sites:

• https://dev.px4.io/v1.10/en/
• https://discuss.px4.io/

Issues

Issues are tracked in the GitHUb repo.