Add the repository to the ros2 workspace
git clone https://github.com/Jaeyoung-Lim/px4-manipulation.git
You will make use of 3 different terminals to run the offboard demo.
On the first terminal, run a SITL instance from the PX4 Autopilot firmware.
make px4_sitl gz_omnicopter
On the second terminal terminal, run the micro-ros-agent which will perform the mapping between Micro XRCE-DDS and uORB. So that ROS2 Nodes are able to communicate with the PX4 micrortps_client.
micro-ros-agent udp4 --port 8888
In order to run the offboard position control example, open a third terminal and run the the node. This runs two ros nodes, which publishes offboard position control setpoints and the visualizer.
ros2 launch px4_manipulation run.launch.py
Pose can be commanded through the menu of the interactive marker