px4_sitl_gazebo_with_mavros

create custom drone on px4_sitl_gazebo, use depth cam,fpv cam with ros.

install px4 firmware

px4 github
px4 user guide

git clone https://github.com/PX4/PX4-Autopilot.git --recursive
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh

first build

cd PX4-Autopilot
make px4_sitl gazebo

install QGC

QGC Download Guide

sudo usermod -a -G dialout $USER
sudo apt-get remove modemmanager -y
sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
sudo apt install libqt5gui5 -y

Download QGroundControl.AppImage.

chmod +x ./QGroundControl.AppImage

turn on QGC

./QGroundControl.AppImage

import custom model in px4 firmware

cd
git clone https://github.com/cananella/px4_sitl_gazebo_with_mavros.git
cd px4_sitl_gazebo_with_mavros
mv my_model ~/PX4-Autopilot/Tools/sitl_gazebo/model/my_model

PX4_Autopilot/ROMFS/px4fmu_commom/init.d-posix/airframes
안에 1011_iris_irlock 파일을 복사한후 <겹치지않는 4자리수>_my_model 로 변경

PX4_Autopilot/build/px4_sitl_default/etc/init.d-posix/airframes
안에 1011_iris_irlock 파일을 복사한후 <겹치지않는 4자리수>_my_model 로 변경

PX4_Autopilot/platforms/posix/cmake 안의 sitl_target.cmake 파일 수정
set(models 마지막에 my_model 삽입

cd ~/PX4_Autopilot
make px4_sitl gazebo_my_model

import custom world in px4 firmware

cd ~/px4_sitl_gazebo_with_mavros
mv armarker ~/PX4-Autopilot/Tools/sitl_gazebo/model/armarker
mv landing_point ~/PX4-Autopilot/Tools/sitl_gazebo/model/landing_point
mv 3rd_building ~/PX4-Autopilot/Tools/sitl_gazebo/model/3rd_building
mv truck_1 ~/PX4-Autopilot/Tools/sitl_gazebo/model/truck_1
mv my_world.world ~/PX4-Autopilot/Tools/sitl_gazebo/worlds/my_world.world

test

cd ~/PX4-Autopilot
make px4_sitl gazebo_my_model PX4_SITL_WORLD=my_world

mavros를 이용한 시뮬

ros 와 mavros 패키지 필요

Launching Gazebo with ROS Wrappers

cd ~/PX4-Autopilot  
DONT_RUN=1 make px4_sitl_default gazebo 
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 

매번 배쉬에서 실행해줘야함 혹은 ~/.bashrc 마지막줄에 추가

cd ~/PX4-Autopilot
DONT_RUN=1 make px4_sitl_default gazebo > /dev/null
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default > /dev/null
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd) > /dev/null
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo > /dev/null
cd

launchfile

cd ~/px4_sitl_gazebo_with_mavros
mv mavros_posix_sitl_my_model.launch ~/PX4-Autopilot/launch/mavros_posix_sitl_my_model.launch

실행

roslaunch px4 mavros_posix_sitl_my_model.launch

rqt 로 카메라 topic 확인

rqt_image_view

cam topic => /camera/rgb/image_raw
depth topic => /camera/depth/image_raw