Launch PX4 sim
make px4_sitl_default gz_x500_mono_cam_down_aruco
OR for multiple vehicle
PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=x500_mono_cam_down ./build/px4_sitl_default/bin/px4 -i 1
AND
PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,1" PX4_SIM_MODEL=lawnmower_aruco ./build/px4_sitl_default/bin/px4 -i 2
Launch micro dds
MicroXRCEAgent udp4 -p 8888
Launch the ros_gz_bridge for briding the camera topic
ros2 run ros_gz_bridge parameter_bridge /camera@sensor_msgs/msg/Image@gz.msgs.Image
Launch the ros_gz_bridge for briding the camera info topic (this is how we get camera intrinsics)
ros2 run ros_gz_bridge parameter_bridge /camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo
Launch the ros2 nodes (aruco_tracker and precision_land)
ros2 launch precision_land test.launch.py
View the video (/image_proc is the annoted image)
ros2 run rqt_image_view rqt_image_view