px4_command

Send command to PX4 using Mavros package

Installation

1. Install the mavros packgae by Binary installation

   Please ref to: https://github.com/mavlink/mavros

   If you has install the mavros package by source code. Plaese deleat it firstly.

2. Create a new ros space called "px4_ws" in your home folder

   mkdir -p ~/px4_ws/src

   cd ~/px4_ws/src

   catkin_init_workspace

   Please source manually, open a new terminal

   gedit .bashrc

   Add the path source /home/$(your computer name)/px4_ws/devel/setup.bash in the end of the bashrc.txt file

3. Git clone the px4_command package

   cd ~/px4_ws/src

   download from gitlab repository

   git clone http://gitlab.amovauto.com/amovlab/px4_command

   download from github repository

   git clone https://github.com/potato77/px4_command

   cd ..

   catkin_make

Coordinate frames

Here we are using ENU frames.

MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° about ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes

Branch

fsc_lab branch is used for fsc_lab quadrotor experiment.

Use this command to switch to fsc_lab branch

git checkout fsc_lab