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Flight
Batuhan Yumurtaci edited this page Oct 10, 2022
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- config file for wifi and vicon
- vrpn client installation
PX4 Parameters
- EKF2_AID_MASK = 88 [vision position fusion, vision yaw fusion, rotate external vision]
- EKF2_HGT_MODE = Vision
Check the IP adress if working in a new network
ifconfig | grep 'inet 1*'
Change .bashrc file in host computer!!
cd
nano .bashrc
Roscore running at TX2, correct IP if applicable
#export ROS_MASTER_URI=http://localhost:11311/
export ROS_MASTER_URI=http://192.168.0.227:11311/
source .bashrc
SSH into TX2
ssh nvidia@192.168.0.227
Terminal 1 - Mavros communication with PX4
cd ~/catkin_ws
source devel/setup.bash
roslaunch state_machine px4_usb.launch
Terminal 2 - Motion capture system
cd ~/catkin_ws
source devel/setup.bash
roslaunch state_machine vicon.launch
Terminal 3 - Actuator control for arms
cd ~/actuator_ws
source devel/setup.bash
roslaunch actuator_control sloth_dynamixel.launch
Terminal 4 - Start mission
cd ~/catkin_ws
source devel/setup.bash
roslaunch state_machine flight_state_machine.launch
Terminal 5 - Repeat the last trajectory
rosservice call /planner/trigger 1 0 0 0 0.1
PX4 Parameters
- EKF2_AID_MASK = 129 [use GPS, GPS yaw fusion]
- EKF2_HGT_MODE = GPS
ssh nvidia@192.168.0.101
ssh nvidia@192.168.0.227
Terminal 1
roslaunch state_machine px4_usb.launch
Terminal 2
cd ~/actuator_ws
source devel/setup.bash
roslaunch actuator_control sloth_dynamixel.launch
Manual control: SB switch Position UP
SC switch UP = IDLE,
SC switch MIDDLE = FLIGHT,
SC switch DOWN = CLOSE,
Automated Control: SB switch Position DOWN
rostopic pub /actuator_control/state std_msgs/Int32 1
State of the arms
IDLE = 0,
FLIGHT = 1,
PREPARE = 2,
CLOSE = 3,
RELEASE = 4,