Drone autonomous planning, perception and navigation using ROS, Pixhawk (PX4) and Jetson Nano
- Download the image
jetson-nano-2gb-jp461-sd-card-image.zip - Flash it to the sd card using balena etcher
- Plug the sd card into the jetson nano
- Connect the USB-C port to power supply and the Micro-USB port to the laptop.
- Find the COM port using device manager
$\rightarrow$ Ports (usuallyUSB Serial Device - COM12) - Open Putty and connect to the COM port
- Go through the OEM setup and then reboot. Username =
jetson, Password =nano - Now ssh into the nano with
ssh [email protected] - Connect phone via USB and turn on USB tethering (or) Connect an ethernet cable
- Run the following commands
sudo apt update
sudo apt upgrade -ysudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-melodic-ros-base
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install -y python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo rosdep init
rosdep updatesudo apt install ros-melodic-mav* -y
cd Downloads
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo bash ./install_geographiclib_datasets.sh
# Give USB permissions
sudo usermod -a -G tty jetson
sudo usermod -a -G dialout jetson
- Find the vendor and product id.
- To do this first run
lsusband now unplug the pixhawk and runlsusbagain. - See what changed. For example it is
Bus 003 Device 005: ID 26ac:0011 - Now vendor id is '26ac' and product id is '0011'
- Create a udev rule
sudo nano /etc/udev/rules.d/99-pixhawk.rules
# Add the following line into the file (remember to change the ids)
SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0011", SYMLINK+="ttyPixhawk"
# Save and close the file. Now Reboot.- Create a launch file with the changed default parameter
roscd mavros
cd launch
sudo cp px4.launch pixhawk.launch
# Now edit the pixhawk.launch file and change the 'fcu_url' parameter
sudo nano pixhawk.launch
# Set 'fcu_url' to '/dev/ttyPixhawk'
# To run the ROS node, run the above created launch file
roslaunch mavros pixhawk.launchsudo apt-get update
sudo apt-get install git cmake libpython3-dev python3-numpy
git clone --recursive https://github.com/dusty-nv/jetson-inference
cd jetson-inference
mkdir build
cd build
cmake ../
make -j$(nproc)
sudo make install
sudo ldconfigmkdir px4
cd px4
# Clone the repository
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
# Install dependencies
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh --no-nuttx --no-sim-tools
# Try the above command again if it failsPut the following in .bashrc
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/home/pravardhan/px4/PX4-Autopilot/build/px4_sitl_default/build_gazebo
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/home/pravardhan/px4/PX4-Autopilot/Tools/sitl_gazebo/models
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/pravardhan/px4/PX4-Autopilot/build/px4_sitl_default/build_gazebo
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/pravardhan/px4/PX4-Autopilot:/home/pravardhan/px4/PX4-Autopilot/Tools/sitl_gazeboStart the simulation using
roslaunch px4 mavros_posix_sitl.launch
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