Mission API/SDK for Drone Application SW based on PX4/ROS

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.

The following SW should be preinstalled to develop application SW using eDrone API/SDKs

• Linux (Ubuntu) (https://www.ubuntu.com/download)

  • Ubuntu 16.04.03 LTS is recommended

• ROS (http://www.ros.org/)

  • ROS Kinetic Kame is recommended

• MAVROS (https://github.com/mavlink/mavros)

  • MAVLink to ROS gateway library

You also need to install the following SW (on the same PC or on a remote one) for a simulation test

• PX4 Firmware (https://github.com/PX4/Firmware)

• Gazebo (http://gazebosim.org/)

  • Version 7.x is recommended (check combination of ROS/Gazebo - http://gazebosim.org/tutorials/?tut=ros_wrapper_versions)

• qGroundControl (https://github.com/mavlink/qgroundcontrol)

  • Version 3.2.x is recommended (curretly the latest release)

% please refer to (https://dev.px4.io/en/simulation/) for the detailed explanation for SITL and HITL

please refer to gitbook "https://sooyoungmoon1.gitbooks.io/edrone-developers-manual/content/" for details!

1. If you have installed ROS, there should be a workspace directory (ex. catkin_ws)

   Change the current directory to the ROS workspace directory in terminal window

2. "Clone" the eDrone SDK code by typing the following command

   $ git clone https://github.com/sooyoungmoon/eDrone

3. Build the code by following the steps:

(1) Build the 'mission_lib_msg' package

 $ catkin build mission_lib_msg

(2) Build the 'mission_lib' package

 $ catkin build mission_lib

(3) Build the 'mission_examples' package

 $ catkin build mission_examples

1. PX4 (SITL) build and execution

(1) Move to the PX4 firmware root directory (ex. ~/src/Firmware)

  $ cd ~/src/Firmware

(2) Use 'make' command to build & execute PX4 firmware in SITL mode

$ make posix_sitl_default gazebo

2. qGroundControl execution

   (AppImage)

   $ chmod +x ./QGroundControl.AppImage $ ./QGroundControl.AppImage (or double click)

   (Compressed Archive)

   $ tar jxf QGroundControl.tar.bz2 $ cd qgroundcontrol $ ./qgroundcontrol-start.sh

3. Execution of 'mission_lib' package

(1) Edit launch file

런치 파일 내용 중 PX4 주소를 시스템 구성에 맞게 수정

Edit the launch file according to your system configuration (the actual address of the PX4 SITL)


<ROS workspace>\src\mission_lib\launch\mission_lib.launch 


<arg name="fcu_url" default="udp://:[email protected]:14557" />

=> <arg name="fcu_url" default="udp://:14540@<IP Addr OF PX4 SITL:14557" />

(2) Execution of 'mission_lib'

$ roslaunch mission_lib mission_lib.launch

4. Execute an application example (ex. exSimpleTakeoff, ex_simplecheck)

(Takeoff)

$ rosrun mission_examples ex_simpleTakeoff

(UAV State/Position Check)

$ rosrun mission_examples ex_simpleCheck

5. Check the execution result

   UAV position/attitude/Velocity: can be shown by Gazebo & qgroundControl

   the execution result of an application example: can be monitored through the terminal window

####### License

This project is licensed under XXX License - see the LICENSE.md file for details

######## Acknowledgments