mavbase2

Repository for basic mav functions implemented in ROS 2

Dependencies

• ROS2 running with Mavros (Recommended installation: skyrats-workplace)
• sudo apt install python3-opencv
• sudo apt install ros-$ROS_DISTRO-tf-transformations
• pip3 install transforms3d
• pip3 install pygeodesy
• pip3 install scipy

Autonomous flight testing

In order to test autonomous flights, you can run the mav_testing.py. This script follows the mission above:

1. Takeoff to 3 m
2. Go to local position (2, 0, 0)
3. Hold for 5 seconds
4. Land

Testing onboard

In your computer, open 2 different terminals. In the fisrt one, run the following command:

ros2 launch mavbase2 px4_telemetry.launch.py

In the other terminal, go the the mavbase2 package directory and run:

python3 mav_testing.py

Launch options

This repository also contains launch files used to connect MAVROS in different situations. Here are some examples on how to use them:

Simulation in the loop (SITL)

For a simple simulation, go to your PX4-Autopiot root and type the following:

make px4_sitl gazebo

This should launch gazebo with a drone spawned. After that, open another terminal and run:

ros2 launch mavbase2 px4_sitl.launch.py

Mavros will start and connect to the simulated drone. From here just run whichever ros2 node you wish to test!

Real life examples

For telemetry connection with the FCU, run the following:

ros2 launch mavbase2 px4_telemetry.launch.py

For usb connection with the FCU, run the following:

ros2 launch mavbase2 px4_usb.launch.py

Importing MAV2.py from another package

If you followed the default installation through skyrats-workplace, just add the following lines to your python code:

sys.path.insert(0,'/home/' + os.environ["USER"] + '/skyrats_ws2/src/mavbase2')
from MAV2 import MAV2