ros2-command.txt

source /opt/ros/humble/setup.bash
source install/local_setup.bash
make px4_sitl gz_x500
sudo MicroXRCEAgent serial --dev /dev/ttyAMA0 -b 921600
sudo MicroXRCEAgent serial --dev /dev/ttyUSB0 -b 921600
MicroXRCEAgent udp4 -p 8888
ssh rainlab-pi4@192.168.0.76

git clone https://github.com/PX4/px4_msgs.git
git clone https://github.com/PX4/px4_ros_com.git
colcon build --packages-select px4_ros_com
colcon build --packages-select px4_offboard_position
ros2 run px4_offboard_position px4_offboard_position
ros2 run px4_ros_com offboard_control


##low-level packages
colcon build --packages-select px4_offboard_lowlevel  	 	
ros2 run px4_offboard_lowlevel circle_trajectory_node

##velocity packages
colcon build --packages-select px4_offboard	
source install/local_setup.bash		
ros2 launch px4_offboard offboard_velocity_control.launch.py
ros2 run px4_offboard position_velocity

##MPC packages
colcon build --packages-select px4_offboard_mpc
ros2 launch px4_offboard_mpc offboard_mpc_control.launch.py
ros2 run px4_offboard_mpc px4_offboard_scvx
ros2 run px4_offboard_mpc px4_attitude_plot

ros2 launch px4_ros_com sensor_combined_listener.launch.py

ros2 topic echo /fmu/in/vehicle_visual_odometry
ros2 topic echo /fmu/out/vehicle_local_position

uxrce_dds_client status

#setup raspberry pi default command when rebooting
sudo crontab -e
@reboot xxxx

flatpak run --device=all org.mavlink.qgroundcontrol