Integrating Fast Planner with PX4-Autopilot to build a fast paced obstacle avoidance drone in complex environments.
The Fast planner would be modified as per requirement without loosing acuracy and functionality, and will be updated to ROS2-Foxy, using Fast-RTPS Bridge and PX4-MSGS
note
This is a personal project, and functionality is not gauranteed. The author is not liable to any damages incurred by the user.
Install all requirements by pip3 install -r requirements.txt
Use the bash files in Installation Folder. Will only run on Ubuntu 20.04.
Run Main.sh to install all the requirements.
$ cd installation
$ sh main.sh
If you want/need to do it individually, given below is the functionality of each file.
-
PX4.sh: This file install PX4-Autopilot and installs other requirements like
Gazeboand other support software. -
FastRTPS_DDS.sh: This file installs the FastRTPS Bridge, with all its dependencies with
Gradle 6.3&sdkman. -
ROS2_FOXY.sh: This file installs ROS2 Foxy & sources to
~./bashrc. -
PX4_WS.sh: This file builds a ROS2 WS called
px4_ros_com_ros2and install px4_msgs & px4_ros_com to talk to PX4 over ROS2. -
SETUP.SH: This file copy paste's all required files in their required locations. If you want to do it manually, do no run this file, steps are mentioned at Manual Setup