PX4 drone control

ROS node to control a px4-firmware drone. Waypoints following, intelligent landing.

Installation

1. Install Gazebo, jMAVsim simulators and Pixhawk tools, reference:

wget https://raw.githubusercontent.com/PX4/Firmware/master/Tools/setup/ubuntu.sh
wget https://raw.githubusercontent.com/PX4/Firmware/master/Tools/setup/requirements.txt

bash ubuntu.sh

2. Install ROS and Mavros:

sudo apt-get install ros-melodic-mavros ros-melodic-mavros-extras
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo bash install_geographiclib_datasets.sh

3. Clone and build PX4 Firmware:

mkdir ~/src; cd ~/src
git clone https://github.com/PX4/Firmware.git --recursive
cd ~/src/Firmware
make px4_sitl_default

4. Create ROS catkin workspace and build the package:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/RuslanAgishev/px4_control/
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash

5. In order to fly in a simulator:

• launch a simulated environment (Jmavsim):

cd PX4/Firmware/
make px4_sitl_default jmavsim

if it shows ant: command not found error, do:

sudo apt-get update
sudo apt-get install ant

if it shows "Ant needs tools.jar and unable to find it", do:

sudo apt-get install openjdk-8-jdk

• connect to the simulated drone:

cd aerovr_ws/
source ~/aerovr_ws/devel/setup.bash
roslaunch px4_control px4_sim.launch

• execute flight command:

rosrun px4_control drone_test.py