imuguruza / flight_test Goto Github PK

This package is an example of a drone flight using PX4 SITL and Gazebo.

• Dependencies
  • Gazebo
  • PX4
  • ROS and MAVROS packages

• Setup installation

catkin_make --pkg flight_test

First launch the simulation using the launch file provided:

$ source <your_path>/catkin_ws/devel/setup.bash
$ roslaunch clover_simulation simulator.launch

In another terminal, launch this node for executing the mission:

$ source <your_path>/catkin_ws/devel/setup.bash
rosrun flight_test flight_test

In, yet, another terminal, launch this node for landing the drone:

$ source <your_path>/catkin_ws/devel/setup.bash
rosrun flight_test cmd_hold

OR you can use a serial port and send a stop command:

rosrun flight_test cmd_stop_serial
# Using a FTDI with RX and TX connected,
# in another terminal launch a stop string to trigger the previous ROS node:
echo "stop" > /dev/ttyUSB0

This latest step can be replaced by a Companion Computer