Abhiswarming ROS package

Note

Switch to ROS1 branch here

Index

1. Requirements
2. Special Instructions
   • Add ROSDEP dependencies
   • Micro-XRCE-DDS-Gen
   • ArduPilot Installation
     • Ardupilot
     • Ardupilot Plugin
   • Special Python3 Link
   • ROS2 Check
   • MAV Proxy

Requirements

To use the Abhiswarming ROS package, ensure you have the following software installed:

1. MicroXRCE
2. ArduPilot
3. Gazebo8
4. MAVProxy
5. ROS2 - Iron

These components are essential for proper functionality. Additionally, clone the following repository into your workspace directory:

git clone https://github.com/micro-ROS/micro-ROS-Agent.git ~/workspace_dir

Before proceeding, run colcon build.

Special Instructions

Add ROSDEP dependencies

cd ~/ros2_ws
source /opt/ros/humble/setup.bash
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r

Micro-XRCE-DDS-Gen

Warning: Ensure JAVA is installed MicroXRCE requires Java to function properly.

git clone --recurse-submodules https://github.com/ardupilot/Micro-XRCE-DDS-Gen.git
cd Micro-XRCE-DDS-Gen
./gradlew assemble

ArduPilot Installation

Ardupilot

Navigate to the home directory:

cd ~
sudo apt install git
git clone https://github.com/ArduPilot/ardupilot.git
cd ardupilot
git checkout Copter-3.6
git submodule update --init --recursive

Install required dependencies:

sudo apt install python-matplotlib python-serial python-wxgtk3.0 python-wxtools python-lxml python-scipy python-opencv ccache gawk python-pip python-pexpect

Install Python packages:

sudo pip install future pymavlink MAVProxy

Append the following lines to the end of either ~/.bashrc or ~/.zshrc:

export PATH=$PATH:$HOME/ardupilot/Tools/autotest
export PATH=/usr/lib/ccache:$PATH

Ardupilot Plugin

1. Install required dependencies:

   sudo apt install libgz-sim8-dev rapidjson-dev

2. Set up Gazebo workspace:

   mkdir -p gz_ws/src && cd gz_ws/src
   git clone https://github.com/ArduPilot/ardupilot_gazebo

3. Build ArduPilot Gazebo plugin:

   export GZ_VERSION=harmonic
   cd ardupilot_gazebo
   mkdir build && cd build
   cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
   make -j4

Special Python3 Link

To ensure ArduPilot functions correctly, create a symbolic link for python:

ln -s /usr/bin/python3 /usr/bin/python

This command creates a soft link named python pointing to /usr/bin/python3.

ROS2 Check

source ~/ros2_ws/install/setup.bash
# See the node appear in the ROS graph
ros2 node list
# See which topics are exposed by the node
ros2 node info /ardupilot_dds
# Echo a topic published from ArduPilot
ros2 topic echo /ap/geopose/filtered

MAV Proxy

mavproxy.py --console --map --aircraft test --master=:14550

Following these instructions will ensure the successful setup and operation of the Abhiswarming ROS package.