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Start the DDS agent.
MicroXRCEAgent udp4 -p 8888 -
In a new terminal window, cd into PX4-Autopilot and start the SITL.
sudo make px4_sitl gazebo-classic -
In a new terminal window, run your roslaunch or script.
-
Uninstall ROS Noetic.
sudo apt-get remove ros-* sudo apt-get autoremoveRemove the installations of Noetic in /opt/ros and /mnt/c/opt/ros.
cd /opt/ros sudo rm -r noetic cd /mnt/c/opt/ros sudo rm -r noeticEdit your ~/.bashrc and remove all ROS related commands.
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Make sure locale has UTF-8.
locale # check for UTF-8 sudo apt update && sudo apt install locales sudo locale-gen en_US en_US.UTF-8 sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 export LANG=en_US.UTF-8 locale # verify settings -
Set up sources.
sudo apt install software-properties-common sudo add-apt-repository universe sudo apt update && sudo apt install curl -y sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null -
Install ROS 2 packages.
sudo apt update sudo apt upgrade sudo apt install ros-foxy-desktop python3-argcomplete # full install with extra visualizer tools and tutorials (RECOMMENDED) sudo apt install ros-foxy-ros-base python3-argcomplete # only has communication libraries and command line tools sudo apt install ros-dev-tools -
Source environment and test if it's working.
source /opt/ros/foxy/setup.bash echo 'source /opt/ros/foxy/setup.bash' >> ~/.bashrc ros2 run demo_nodes_cpp talkerIn another window run:
ros2 run demo_nodes_py listener -
Not sure what this is but PX4 says to install it.
pip install --user -U empy pyros-genmsg setuptools
- Install PX4 development environment in your directory of choice.
git clone https://github.com/PX4/PX4-Autopilot.git --recursive bash ./PX4-Autopilot/Tools/setup/ubuntu.sh cd PX4-Autopilot/ make px4_sitl
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Clone the DDS agent library to your directory of choice.
git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git cd Micro-XRCE-DDS-Agent mkdir build cd build cmake .. make sudo make install sudo ldconfig /usr/local/lib/If you get an error relating to "ASIO_INCLUDE_DIR" when running "make", install this package:
sudo apt-get install libasio-dev -
Start the DDS agent.
MicroXRCEAgent udp4 -p 8888 -
The PX4 SITL contains the DDS client. Run the SITL in a new window.
sudo make px4_sitl gazebo-classicIf you get a build error, check if you have any existing installations of ROS Noetic and delete them. After it successfully builds, you should see the simulation environment in one window and the DDS agent outputting "INFO" messages in its terminal window.
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Create a ROS 2 workspace and name it whatever you want. This is where all you develop in.
mkdir -p ros2_ws/src -
Clone PX4's packages and our custom messages into your ROS 2 workspace and compile it.
cd ros2_ws/src git clone https://github.com/PX4/px4_msgs.git git clone [email protected]:uci-uav-forge/uavf_ros2_msgs.git cd .. source /opt/ros/foxy/setup.bashEverytime you make a change to your workspace, rebuild with this command:
colcon build --merge-installIf you compile with only "colcon build", you will get import errors with your ROS message types.
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Run this command after everytime you've built the workspace:
source install/setup.bash -
Test it out with an example
ros2 launch px4_offboard_mpc telemetry_interface_node.py
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cd into this repo's root directory.
-
Run:
pip install -e .
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