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Usage.md

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Usage and deployment

The system has four launch files embedded in mavros_off_board and these are used to launch the vehicle, the functionality of each launcher is:

  • posix_sitl.launch It launches PX4 SITL in Gazebo
  • mavros_posix_sitl.launch This launch file launches Mavros, PX4 SITL and Gazebo. This launch file allows the control of the vehicle with ROS. The model launched is in sdf format.
  • mavros_rviz.launch This launch file is only for visualization purpose and shows the vehicle in Gazebo and Rviz. The model launched is in urdf format.
  • urdf_launcher.launch This launch file launches Mavros, PX4 SITL, Rviz and Gazebo. This launch file allows the control of the vehicle with ROS. The model launched is in xacro format.

The frames and TF of the vehicle in Rviz are shown in the next image.

Use the launch files based on your own needs. If you need only simulate the vehicle use mavros_posix_sitl.launch, but if visualization in Rviz is also needed use urdf_launcher.launch.

With the package mavros_off_board launch the system in a simulated environment

cd PX4-Autopilot  
DONT_RUN=1 make px4_sitl_default gazebo
source ~/catkin_ws/devel/setup.bash
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
roslaunch mavros_off_board mavros_posix_sitl.launch

Note: In case Gazebo is preventing to launch the vehicle, kill the gazebo server using killall gzserver

This will deploy the Gazebo world created with the UAV, allowing further iteration of the vehicle.

Once the simulation is running, Takeoff the vehicle and start its teleoperation with

rosrun mavros_off_board offb_node
rosrun mavros_off_board teleop_node_pos

Move the vehicle with the keyboard along the simulation space and locate it above the landing pad.

To use the detection pipeline in object_detector use

roslaunch object_detector simu.launch

This will start the detection module of the system and track the landing platform as shown by the image below.

To land the vehicle use the drone_controller package. The process variable of the controller is the output of the detection pipeline. Do not use this package without the detector.

rosrun drone_controller pid_controller_final

The variables controlled are velocity in X and Y, the yaw rate and the position in Z of the quad-rotor.