Table of Contents

1 Mavlink Control

Companion(Onboard) PC와 FC연결. TELE2 사용

1.1 Mavlink Utils

고마워 mavproxy, 그런데 너는 Ardupilot 만… 되냐.

  • pymavlink
  • mavproxy
  • dronekit
  • mavros
pip install mavproxy

dronekit 최신버전으로 설치dronekit-install 

git clone https://github.com/dronekit/dronekit-python.git (dronekit-install)
cd ./dronekit-python
sudo python setup.py build
sudo python setup.py install

1.1.1 mavproxy

mavlink proxy server, collection of groundcontrol utility

relay 433mhz telemetry to local udp 14540 and udp:14560 

python /usr/local/bin/mavproxy.py --master=/dev/ttyUSB0 --baudrate 57600 --out udp:127.0.0.1:14540  --out udp:127.0.0.1:14560

listen 14550 port, relay to 14540 14560 

python  /usr/local/bin/mavproxy.py --master=:14550 --out udp:127.0.0.1:14540 --out udp:127.0.0.1:14560

1.2 Mavlink Control Examples

비행 테스트는 시뮬레이터에서! 결과 확인은 QGroundControl에서!

2 Odroid에 mavros offboard mode

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
$ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

$ sudo apt-get update -y
$ sudo apt-get install upgrade -y
$ sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras
$ sudo apt-get install python-wstool python-rosinstall-generator python-catkin-tools

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws
$ catkin init

$ wstool init ~/catkin_ws/src

# 1. get source (upstream - released)
$ rosinstall_generator --upstream mavros | tee /tmp/mavros.rosinstall
# alternative: latest source
$ rosinstall_generator --upstream-development mavros | tee /tmp/mavros.rosinstall

# 2. get latest released mavlink package
 # you may run from this line to update ros-*-mavlink package
$ rosinstall_generator mavlink | tee -a /tmp/mavros.rosinstall

# 3. Setup workspace & install deps
$ wstool merge -t src /tmp/mavros.rosinstall
$ wstool update -t src

#$ rosdep install --from-paths src --ignore-src --rosdistro indigo -y
$ rosdep install --from-paths src --ignore-src --rosdistro kinetic -y --os=ubuntu:xenial

$ sudo apt-get install python-future

# finally - build
$ catkin build

3 Gazebo로 mavros offboard mode

3.1 설치

…

3.2 실행

roscore 실행 (서버) 

$ cd catkin_ws; source devel/setup.bash
$ roscore

modudculab_ros 패키지의 pub_setpoints 노드 실행 ctrl_pos_gazebo.launch 파일 수정 필요. 

$ cd catkin_ws; source devel/setup.bash
$ cd ~/catkin_ws/src
$ git clone https://github.com/Jaeyoung-Lim/modudculab_ros.git
$ catkin build modudculab_ros
$ roslaunch modudculab_ros ctrl_pos_gazebo.launch

SITL Gazebo 실행 

$ mkdir src; cd src
$ git clone https://github.com/PX4/Firmware.git
$ cd Firmware
$ git submodule update --init --recursive
$ make posix_sitl_default gazebo

mavros노드에 명령어 내리기 

$ cd catkin_ws; source devel/setup.bash
$ rosrun mavros mavsys mode -c OFFBOARD
$ rosrun mavros mavsafety arm 
$ rosrun mavros mavsys mode -c AUTO.RTL

$ rosrun mavros mavsetp local -p 1 0 0 0

rosrun mavros mavros_node _fcu_url:="udp://:14540@192.168.1.3:14557" rosrun mavros mavcmd takeoffcur 0 0 2

https://github.com/mavlink/mavros/blob/master/mavros/scripts/mavcmd

해보기

  • odroid에서 pub_setpoints 노드를 PC(노트북)의 Gazebo와 연결하기
  • odroid에서 pub_setpoints 노드를 FCU(ttyUSB0:921600)와 연결하기

참고

4 Offboard mode: pymavros

4.1 mavros node 실행

# gazebo
rosrun mavros mavros_node _fcu_url:="udp://:14540@192.168.1.3:14557"

# qgroundcontrol
rosrun mavros gcs_bridge _gcs_url:='udp://@192.168.1.3'

4.2 SITL Gazebo 실행

$ make posix_sitl_default gazebo

4.3 Setpoint_Position (MAVROS PYTHON)

다음 코드를 odroid에서 실행.

<script src="https://gist.github.com/donghee/7367afb515a6f761cc18c38313a548ff.js"></script>

Author: donghee

Created: 2017-08-08 Tue 11:03

Validate