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toolchain_installation.md

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System Details

  • Python 3.10
  • Ubuntu 22.04
  • ROS2 Humble
  • MicroXRCE

ATTENTION !!

Pay attention which release you choose, the repository PX4-Autopilot, px4_msgs and px4_ros_com must use the same release otherwise something could go worng. (Hint: there is a specific branch for a specific release in each repository)

Set-up

Clone the repository and build the code

git clone https://github.com/mattiapettene/PX4-mini-drone.git
colcon build
source ~/PX4-mini-drone/install/setup.bash && echo "source ~/PX4-mini-drone/install/setup.bash" >> .bashrc

Install ROS2-Humble

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update && sudo apt upgrade -y
sudo apt install ros-humble-desktop
sudo apt install ros-dev-tools
source /opt/ros/humble/setup.bash && echo "source /opt/ros/humble/setup.bash" >> .bashrc
  • Some Python dependencies must also be installed:
pip install --user -U empy pyros-genmsg setuptools

Install QGroundControl

  • On the command prompt enter
sudo usermod -a -G dialout $USER
sudo apt-get remove modemmanager -y
sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
sudo apt install libqt5gui5 -y
sudo apt install libfuse2 -y
  • Logout and login again to enable the change to user permissions

To install QGroundControl

chmod +x ./QGroundControl.AppImage
./QGroundControl.AppImage

Download and install PX4 Source code

git clone https://github.com/PX4/PX4-Autopilot.git --recursive
  • Install common packages
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
  • Install gazebo classic
sudo apt install gazebo
sudo apt-get install ros-humble-gazebo-ros-pkgs

Install PX4 ROS Com and PX4 msg

  • Download the repositories
cd ~
mkdir -p ~/ws_combined_sensor/src/
cd ~/ws_combined_sensor/src/
git clone https://github.com/PX4/px4_ros_com.git
git clone https://github.com/PX4/px4_msgs.git
  • Build them
cd ~/ws_combined_sensor/
colcon build
source ~/ws_combined_sensor/install/setup.bash && echo "source ~/ws_combined_sensor/install/setup.bash" >> .bashrc

PX4-FastDDS Bridge

PX4 uses XRCE-DDS middleware to allow uORB messages to be published and subscribed on a companion computer as though they were ROS 2 topics.

Install MicroXRCE agent

git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
cd Micro-XRCE-DDS-Agent
mkdir build
cd build
cmake ..
make
sudo make install
sudo ldconfig /usr/local/lib/
  • Try running the agent
MicroXRCEAgent udp4 -p 8888

Installation check, you will need four terminals

cd ~
git clone https://github.com/Jaeyoung-Lim/px4-offboard.git
cd ~/px4-offboard
colcon build
  • Start the Micro-XRCE-DDS-Agent
cd ~/Micro-XRCE-DDS-Agent
export ROS_DOMAIN_ID=0
export PYTHONOPTIMIZE=1
MicroXRCEAgent udp4 -p 8888
  • Start Gazebo
cd ~/PX4-Autopilot
export ROS_DOMAIN_ID=0
export PYTHONOPTIMIZE=1
make px4_sitl gazebo-classic
  • Start QGround Controller and Take Off
cd ~/
./QGroundControl.AppImage

  • Press the takeoff command on QGround Controller interface, the simulated drone should takeoff and climb to an altitude of 10m (~32ft)

  • Start the px4-offboard example

cd ~/px4-offboard
export ROS_DOMAIN_ID=0
export PYTHONOPTIMIZE=1
source ../px4_ros_com_ws/install/setup.bash
source install/setup.bash
ros2 launch px4_offboard offboard_position_control.launch.py

  • Now head back to QGround Controller and enable offboard control

  • After a 1-2 sec pause, the demo should start