Send command to PX4 using Mavros package
-
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.
-
Create a new ros space called "px4_ws" in your home folder
mkdir -p ~/px4_ws/srccd ~/px4_ws/srccatkin_init_workspacePlease source manually, open a new terminal
gedit .bashrcAdd the path
source /home/$(your computer name)/px4_ws/devel/setup.bashin the end of the bashrc.txt file -
Git clone the px4_command package
cd ~/px4_ws/srcdownload from github repository
git clone https://github.com/amov-lab/px4_commandcd ..catkin_make
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
fsc_lab branch is used for fsc_lab quadrotor experiment.
Use this command to switch to fsc_lab branch
git checkout fsc_lab