This project is a MAVROS based implementation of an autonomous drone runs on ArduPilot firmware with a path in form of a square.

Requirements: ROS(Melodic), Gazebo, MAVROS and ArduPilot

This document mentions how to run node "Square" step by step.

---

Ros:
$ roscore

Gazebo:
$ gazebo --verbose worlds/iris_arducopter_runway.world

Ardupilot
$ cd ~/ardupilot/ArduCopter
$ ../Tools/autotest/sim_vehicle.py -f gazebo-iris

Mavros:
$ rosrun mavros mavros_node _fcu_url:=tcp://localhost:5762

Make communicate possible:
$ rosrun mavros mavsys rate --all 10

Compile and run the code:
$ cd ~/tsa_assignment
$ catkin_make
$ source ./devel/setup.bash
$ rosrun tsa_assignment square

To echo next position published by square node (it will start publishing after take off):
$ rostopic echo /drone/next_waypoint

---

Elif Balcı
i.elif.balci@gmail.com
elifbalci.com