fatmaf/px4_offboard_py

Assumption ROSMonitoring is used to generate the monitor package which is not part of this repo. The config files can be found in ROSMonitoringConfigs

• Install PX4
• ROS workspace with PX4
• Download the following packages:
  • https://github.com/fatmaf/px4_offboard_py
  • https://github.com/fatmaf/px4_rosmondemo_monitor
• Create a new catkin workspace and put the above two in the source folder (src)
• Catkin make
• Download ROSMonitoring - copy the file uav_property1.py from rosmondemo/ROSMonitoringConfigs to the oracle folder

Launching the PX4 Simulation

cd <PX4-Autopilot_clone>

source ~/catkin_ws/devel/setup.bash # (optional)

source Tools/simulation/gazebo/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default

export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)

export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/simulation/gazebo/sitl_gazebo

For ROSMonitoring with no user input

• where it is true roslaunch rosmondemo start_offb_locs_instrumented.launch (dont forget to press enter because I wanted to wait)
• where it is not true roslaunch rosmondemo start_offb_locs_bad_instrumented.launch

Starting the monitoring stuff

./oracle.py --online --property uav_property1 --port 8080 --dense

roslaunch monitor run.launch

For ROSMonitoring with user input

get the QGroundControl App from the PX4 website

• run roslaunch rosmondemo monitor_verdict_visual_instrumented.launch
• start the app
• start the monitor roslaunch monitor run.launch
• ./oracle.py --online --property uav_property_simplified --port 8080 --dense