Control PX4 drone using teleop keyboard
Install PX4 drone simulation gazebo from https://github.com/PX4/PX4-Autopilot
To run PX4 drone in gazebo follow the commands
Terminal-1 : cd PX4-Autopilot && no_sim=1 make px4_sitl gazebo
Terminal-2 :
cd PX4-Autopilot
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
roslaunch gazebo_ros empty_world.launch
(set world and iris model)
Terminal-3 : roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557"
Then clone this repo.
run catkin_make
To run control the drone: Terminal-4 :
cd <to the workspace>
rosrun offb keyboard_node
Terminal-5 : rosrun teleop_twist_keyboard teleop_twist_keyboard.py
To Run the RTABMAP with this run the following command
Terminal-6 : roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_startrgb_topic:=/camera/rgb/image_raw depth_topic:=/camera/depth/image_raw camera_info_topic:=/camera/rgb/camera_info
Move the drone around and collect data. rtabmap provides poses.g2o file, poses.txt file, depth images and rgb images.
GO Enjoy