/MaRS_Offboard

Primary LanguagePython

SVARM Project

Packages under src/

mavros-communication with pixhawk4

mocap_optitrack-read the optitrack datas

offboard-generate the path and pass to px4

mavlink-the communication protocol of pixhawk4

Normal Steps

  1. cd MaRS_Offboard
  2. catkin build
  3. source devel/setup.bash
  4. roslaunch mocap_optitrack mocap.launch
  5. open a new terminal and move into MaRS_Offboard directory
  6. source devel/setup.bash
  7. roslaunch mavros px4.launch
  8. open a new terminal and move into MaRS_Offboard directory
  9. source devel/setup.bash
  10. rosrun offboard offboard_node

after these steps, arm the pixhawk and switch into offboard mode through RC, the UAV will autonomous fly.