PX4 Control

PX4 Control allows manual offboard control of the PX4 iris drone. This repo also has a Docker file that can be build so that getting up and running goes easier.

Prerequisite

• Gazebo installed

http://gazebosim.org

• PX4 Firmware clone and checkout to version v1.8.2

cd ~
git clone https://github.com/PX4/Firmware.git
git checkout 34b03d56593815e16a29ba5dcef9b66208285c98

Clone required prackages

cd ~/catkin_ws/src
git clone https://bitbucket.org/DataspeedInc/velodyne_simulator.git
cd ~/catkin_ws
catkin build

Installing this package

Clone this into the src folder of your catkin workspace

cd ~/catkin_ws/src
git clone https://github.com/PXLRoboticsLab/PX4_Control.git

Build your catkin workspace

cd ~/catkin_ws
catkin build

Single Drone

Start simulation and link px4

In the firmware folder of px4

cd ~/Firmware
make px4_sitl gazebo

In the your catkin workspace

cd ~/catkin_ws
roslaunch mavros px4.launch fcu_url:="udp://:14540@192.168.1.36:14557"

Multi drone

Compile px4 and launch multi uav

In the firmware folder of px4

cd ~/Firmware

git submodule update --init --recursive
DONT_RUN=1 make px4_sitl_default gazebo

source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd):$(pwd)/Tools/sitl_gazebo

Starting multi uav simulation

roslaunch px4 multi_uav_mavros_sitl.launch

Running missions

If the simulation and link are running open a new terminal and go to your catkin workspace

cd ~/catkin_ws

Start the package with

rosrun px4_sitl px4_ros.py

Enter a mission file, Example:

test.json
multi_test.json

Running manual control

If the simulation and link are running open a new terminal and go to your catkin workspace

cd ~/catkin_ws

Start the manual control

rosrun px4_sitl manual_px4.py

or

rosrun px4_sitl multi_manual_px4.py

Docker

This repo contais a docker file with everything installed that is need to test and use the PX4 control stack. This Docker explanation expects that this git repo get cloned on ~/

Cloning

cd ~
git clone https://github.com/PXLRoboticsLab/PX4_Control.git

Building the docker file

cd PX4_Control/docker
./build_image.sh

Running the docker

cd PX4_Control/docker
./start_container.sh

Seting up the PX4 Control in the docker

If the Docker is not yet running

cd PX4_Control/docker
./start_container.sh

Then proceed to the catkin_ws/src and clone the repo.

cd Projects/catkin_ws/src
git clone https://github.com/PXLRoboticsLab/PX4_Control.git
cd ..
catkin build

Running the PX4 control stack

Open up 2 terminals.

docker exec -it px4_control_docker bash

In one terminal start the PX4 stack.

roslaunch px4_control multi_uav_mavros_sitl.launch

In the other terminal start the PX4 control stack.

rosrun px4_control multi_manual_px4_ros.py

When asked how many drones the default repo is 1 but its possible to add more drones in the multi_uav_mavros_sitl.launch launch file.