From dc514c9b86229d4f7dbce36c750a1494aa34a564 Mon Sep 17 00:00:00 2001 From: Steve Henderson Date: Sat, 3 Dec 2022 18:36:42 -0500 Subject: [PATCH 1/7] Adding tutorial --- doc/ROS2_PX4_Offboard_Tutorial.md | 239 ++++++++++++++++++++++++++++++ doc/img/20221203160304.png | Bin 0 -> 79812 bytes doc/img/20221203161905.png | Bin 0 -> 178934 bytes doc/img/20221203163612.png | Bin 0 -> 52441 bytes doc/img/20221203164029.png | Bin 0 -> 272754 bytes doc/img/20221203164126.png | Bin 0 -> 133568 bytes doc/img/20221203164624.png | Bin 0 -> 386514 bytes doc/img/20221203164701.png | Bin 0 -> 349189 bytes doc/img/20221203165128.png | Bin 0 -> 335662 bytes doc/img/20221203165425.png | Bin 0 -> 782417 bytes doc/img/20221203165656.png | Bin 0 -> 811315 bytes doc/img/20221203165710.png | Bin 0 -> 811315 bytes doc/img/20221203170359.png | Bin 0 -> 280930 bytes doc/img/20221203170522.png | Bin 0 -> 469909 bytes doc/img/20221203170609.png | Bin 0 -> 1101826 bytes doc/img/20221203171934.png | Bin 0 -> 505816 bytes 16 files changed, 239 insertions(+) create mode 100644 doc/ROS2_PX4_Offboard_Tutorial.md create mode 100644 doc/img/20221203160304.png create mode 100644 doc/img/20221203161905.png create mode 100644 doc/img/20221203163612.png create mode 100644 doc/img/20221203164029.png create mode 100644 doc/img/20221203164126.png create mode 100644 doc/img/20221203164624.png create mode 100644 doc/img/20221203164701.png create mode 100644 doc/img/20221203165128.png create mode 100644 doc/img/20221203165425.png create mode 100644 doc/img/20221203165656.png create mode 100644 doc/img/20221203165710.png create mode 100644 doc/img/20221203170359.png create mode 100644 doc/img/20221203170522.png create mode 100644 doc/img/20221203170609.png create mode 100644 doc/img/20221203171934.png diff --git a/doc/ROS2_PX4_Offboard_Tutorial.md b/doc/ROS2_PX4_Offboard_Tutorial.md new file mode 100644 index 0000000..b70bd98 --- /dev/null +++ b/doc/ROS2_PX4_Offboard_Tutorial.md @@ -0,0 +1,239 @@ + +## Overview + +This tutorial explains how to interface ROS2 with PX4 (SITL) using DDS. + +### Prerequisites + + * [ROS2 Installed](https://docs.px4.io/main/en/ros/ros2_comm.html#install-ros-2), and setup for your operating system (e.g. [Linux Ubuntu](https://docs.px4.io/main/en/dev_setup/dev_env_linux_ubuntu.html)) with Gazebo + * [FastDDS Installed](https://docs.px4.io/main/en/dev_setup/fast-dds-installation.html) + * [PX4-Autopilot downloaded](https://docs.px4.io/main/en/dev_setup/building_px4.html) + * [QGroundControl installed](https://docs.qgroundcontrol.com/master/en/getting_started/download_and_install.html) + +### Example System Details + + * Ubuntu 22.02 + * ROS2 Humble + * Python 3.10 + +## Install PX4 Offboard and dependencies (one time setup) + +### Install the px4-offboard example from Jaeyoung-Lim + +``` +cd ~ +git clone https://github.com/Jaeyoung-Lim/px4-offboard.git +``` + +### Install PX4 ROS Com and PX4 msg + +The `px4-offboard` example requires the `px4_ros_com` bridge and `px4_msgs` definitions: + +``` +cd ~ +mkdir px4_ros_com_ws +cd px4_ros_com_ws +git clone https://github.com/PX4/px4_ros_com.git +git clone https://github.com/PX4/px4_msgs.git +``` + + +Build them: + + +``` +colcon build +``` + +This should build, and you may see some warnings: + +![](img/20221203161905.png) + +As long as there are no __*errors*__ you should be OK.. + +## Install the micro_ros_agent (one time setup) + +#### Check ROS Distro + +When building micro_ros_agent, you need to build it for the particular ROS version you are using. + +Ensure your ROS_DISTRO environment variable is set + +``` +env | grep ROS +``` + +You should see this variable with some other ROS settings: + +``` +ROS_DISTRO=humble +``` + +If it's not set you can try to update: + +``` +export ROS_DISTRO=humble +``` + + +*Note: If the ROS_DISTRO isn't set in your enviornment you probably don't have a clean ROS2 installation. You may have issues with the rest of this tutorial. Recommend reinstalling and checking your ROS2 installation* + + +#### Building the micro_ros_agent + +From: [Building micro-ROS-Agent](https://github.com/micro-ROS/micro_ros_setup#building-micro-ros-agent) + + + +``` +cd ~ +mkdir ~/microros_ws +cd microros_ws +git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git +ros2 run micro_ros_setup create_agent_ws.sh +ros2 run micro_ros_setup build_agent.sh +source install/local_setup.sh +``` +*Note how the ROS_DISTRO environment variable is used to specify the correct branch... + +This should build and may flash a few warnings: + +![](./img/20221203160304.png) + +Try running the agent: + +``` +ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 +``` + +It should respond with: + +``` +[1670101284.566587] info | UDPv4AgentLinux.cpp | init | running... | port: 8888 +[1670101284.566822] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4 +``` + +## Run the Demo + +### Overview + +You will need 4 terminal windows ([gnome terminator](https://gnome-terminator.org/) is a great for this!), one for each of the following components: + + * micro-ros-agent + * Gazebo + * px4-offboard example + * QGroundControl + +In each terminal window, we will first source any workspace settings required for a particular component and also set the `ROS_DOMAIN_ID` and `PYTHONOPTIMIZE` in each window + +### Start the micro-ros-agent + +``` +cd ~/microros_ws +export ROS_DOMAIN_ID=0 +export PYTHONOPTIMIZE=1 +ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 ROS_DOMAIN_ID=0 +``` + +This should start with a few initial messages: + +![](img/20221203163612.png) + +### Start Gazebo + +``` +cd ~/PX4-Autopilot +export ROS_DOMAIN_ID=0 +export PYTHONOPTIMIZE=1 +make px4_sitl gazebo +``` + +Gazebo should start and you should see the Micro ROS Agent start to receive DDS messages: + +![[Pasted image 20221203164029.png]] + +Leave the agent running for the rest of the tutorial + +If you scroll up in the Gazebo window, you should also see it sending microDDS messages: + +![](img/20221203164126.png) + + +### Start QGround Controller and Take Off + +In the QGroundControl terminal, launch the app: + +``` +./QGroundControl.AppImage +``` + +![](img/20221203165425.png) + +The simulated drone should takeoff and climb to an altitude of 10m (~32ft) + + +### Start the px4-offboard example + +#### Check ROS Messages + +Before we start the example, lets check ROS2 topics: + +``` +cd ~/px4-offboard +export ROS_DOMAIN_ID=0 +export PYTHONOPTIMIZE=1 +ros2 topic list +``` + +You should see a list of topics that match the ones sent from Gazebo.: + +![](img/20221203164701.png) + +If you do not see the topics: + + * Check that `ROS_DOMAIN_ID=0` in all the terminals + +Let's echo a topic: + +``` +ros2 topic echo /fmu/out/vehicle_odometry +``` + +The terminal should echo some rapidly updating details about the simulated drone. If you look at position, you can see it matches the height of our drone + +![](img/20221203165710.png) + +Now that we verfied the DDS-ROS subscription comms, we can start the demo + +CTRL-C to stop the topic echo and then: + +``` +source ../px4_ros_com_ws/install/setup.bash +source install/setup.bash +``` + +The first source ensures the dependencies are loaded for the demo. +The second is for the demo itself. + +Now launch the demo: + +``` +ros2 launch px4_offboard offboard_position_control.launch.py +``` + +If things work, the demo should immediately show an RViz window with the drone at altitude: + +![](img/20221203170359.png) + +Now head back to QGroundControl and enable offboard control. Click the current mode: + +![](img/20221203171934.png) + +Then, in the menu, select `Offboard`: + +![](img/20221203170522.png) + +After a 1-2 sec pause, the demo should take control: + +![](img/20221203170609.png) + diff --git a/doc/img/20221203160304.png b/doc/img/20221203160304.png new file mode 100644 index 0000000000000000000000000000000000000000..faf8c76531daf8e3afbae462b68973a994f269ea GIT binary patch literal 79812 zcmcG#1yq&Y-tN5skp`tZM5IBwOF+8276Q`UU5a$G=B=tK7%%#Nh8> z)30`0;qbd>UC$c4fm;*jC9t2sx5)aPv3;=WN~x$mn!i_)WvlP>1N~S|XzxzI2l7sM z>3hy~lJ`7oCkM|UJZ#&Cn>1D;9xlKj?+kS}5`Z5t<}U&9#vU)>C>4}{4THCRI}?vL zMkOq0Z)~x*xg3@xUMz1+AJ156Tg|pf&8cQf66<_Jncq}rXdm;oyKVbBi}zt+!5!qY zH9;C~SLyJ4e!C`GJB4mi2j+29tBVfEaC3## z56v=M8u1p~8=)Z*fQc=u!Bne3Gczfh(Bef$6=So_v(nbxao%!c&AL^$_^Cwp{N_fz z=n(-bHI_@BR3g?BS~|66Dx&D_ zPL~6ss{gf03eUwLJy{Z6`zJ%1`vKkkZdcTO*pbC=eCoLT7Cz5T6orv-_ItZJ z@+!Fs)Upn|mRCL84#D?BJ*&yXDHJ0lo+991)W~vf9ZbpQF?qOeU>jsQx=-C~boFBk z^3IW@U_2^29Z4cvnDbBL(IrJPz=1%`*8Atb(PAGuv!h^+7HG5s? 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