PX4 ros2 API

Developed by autmav

Prerequisites

Tested with:

• ubuntu 20.0, ros2 (foxy), Gazebo-classic (v: ...), PX4 (v1.14). Remember to have PX4-Autopilot root in your home dir.

Setup

mkdir ~/ws
cd ~/ws
git clone https://github.com/autmav/px4_ros2_api.git src
cd ..
source /opt/ros/foxy/setup.bash
colcon build

Run

Each of the following fields must be done in separate terminals. PX4:

cd ~/PX4_Autopilot
make px4_sitl gazebo-classic

XRCE:

MicroXRCEAgent udp4 -p 8888

Main code:

cd ~/ws
source /opt/ros/foxy/setup.bash
source install/setup.bash

# for just take off
ros2 launch px4_ros_com only_takeoff.yaml

# for position mode
ros2 run px4_ros_com position_command

# for velocity mode
ros2 run px4_ros_com velocity_command

# for attitude mode
ros2 run px4_ros_com attitude_command

Plot:

source /opt/ros/foxy/setup.bash
source install/setup.bash
ros2 run py_pubsub minimal_subscriber