Readme.md

state_machine

1 How to make

cd ${HOME}
mkdir -p state_machine_ws/src
cd ${HOME}/state_machine_ws/src
catkin_init_workspace
git clone https://github.com/bing0037/state_machine.git
cd .. # to workspace directory
catkin_make

2 How to run

2-1 simulation

run pixhawk connection:

roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14557"

run pixhawk&gazebo:

cd ~/code/pixhawk/px4_vtol/	#your pixhawk directory
make posix_sitl_default gazebo

run state_machine:

source ${HOME}/state_machine_ws/devel/setup.bash
rosrun state_machine send4setpoint

source ${HOME}/state_machine_ws/devel/setup.bash
rosrun state_machine send10picture_position

source ${HOME}/state_machine_ws/devel/setup.bash
rosrun state_machine offb_simulation_test

switch pixhawk to proper mode:

rosrun mavros mavsys mode -c OFFBOARD

rosrun mavros mavsafety arm

2-2 real flight(connected to pixhawk)

run pixhawk connection:

roslaunch mavros px4.launch

run state_machine:

source ${HOME}/state_machine_ws/devel/setup.bash
rosrun state_machine send4setpoint

source ${HOME}/state_machine_ws/devel/setup.bash
rosrun state_machine send10picture_position

source ${HOME}/state_machine_ws/devel/setup.bash
rosrun state_machine offb_simulation_test

Tips:

How to connect to pix

https://github.com/SIA-UAVGP/mavros

Get the topic's messages

rqt_graph