MAD-CRAZY-MAN/precland

1. build px4 sitl firmware

• cd ~
• git clone https://github.com/PX4/PX4-Autopilot.git
• cd ~/PX4-Autopilot
• git checkout -b simulation_test v1.12.3
• ./Tools/setup/ubuntu.sh
• git submodule update --init --recursive
• make px4_sitl

2. build ros package

• mkdir ~/catkin_ws/src
• cd ~/catkin_ws/src
• git clone https://MAD-CRAZY-MAN/precland
• cd ~/catkin_ws/
• catkin_make

3. set environment varibale

• vim /.bashrc export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/catkin_ws/src/precland/models export px4_dir=~/PX4-Autopilot source $px4_dir/Tools/setup_gazebo.bash $px4_dir $px4_dir/build/px4_sitl_default export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:$px4_dir

4. roslaunch precland_simul mavros_posix_sitl.launch

• QGC 실행
• rostopic list //topic 확인
• rviz //camera 확인

5. 움직이기

• example code 실행
  • chmod +x ~/catkin_ws/src/precland/scripts/offb_node
  • rosrun precland_simul offb_node