drone-capstone

Utilized Repos

• https://github.com/ros-perception/image_common -humble
• https://github.com/ros-perception/image_pipeline -humble
• https://github.com/ros-perception/vision_opencv (not sure which version)
• https://github.com/idra-lab/realsense_t265_shelfino
• https://github.com/christianrauch/apriltag_ros -3.3.0
• https://github.com/christianrauch/apriltag_msgs -2.0.1
• https://github.com/AprilRobotics/apriltag -v3.4.5
• https://github.com/PX4/px4_msgs/commit/3a7c790eaee5284f4e48091dd77f697e4fd828d3
• https://github.com/PX4/px4_ros_com/commit/86e9aeb20e55a4673fa8a9f1c29ea06a6c5ad1af
• https://github.com/Auterion/px4-ros2-interface-lib/commit/365dd8807869fd81813de0415ec99e85ea021d59

Jetson Command

xhost +local:docker
cd drone-capstone/Docker/jetson
docker compose up -d
docker exec -it t265-jetson bash

Requirement for Q Ground Control is disabled in container, but it can be run in another terminal with

flatpak run org.mavlink.qgroundcontrol

Usage

Terminal 1 in Container

cd PX4_Autopilot

To run with gui run:

PX4_GZ_WORLD=apriltag make px4_sitl gz_x500_mono_cam_down NAV_DLL_ACT=0

Otherwise, you can run the sim headless with

PX4_GZ_WORLD=apriltag make px4_sitl gz_x500_mono_cam_down NAV_DLL_ACT=0 HEADLESS=1

Terminal 2 in Container

cd drone-capstone/ros2_ws
colcon build
source install/setup.bash
ros2 launch bringup sim.launch

Terminal 3 in Container

ros2 run precision_land_apriltag precision_land_apriltag_node

Terminal 4 in Container

ros2 run rqt_image_view rqt_image_view --clear-config