0cfdac43ec
* Allow using nans for most of services parameters * Add terrain frame * Remove yaw_rate parameter from most services * Add set_yaw and set_yaw_rate services * Correct order for pitch and roll everywhere to match XYZ convention * Add simple_offboard/state topic * Add essential tests * Stop publishing setpoints when land called
clover ROS package
A bundle for autonomous navigation and drone control.
Manual installation
Install ROS Noetic according to the documentation, then create a Catkin workspace.
Clone this repo to directory ~/catkin_ws/src/clover:
cd ~/catkin_ws/src
git clone https://github.com/CopterExpress/clover.git clover
All the required ROS packages (including mavros and opencv) can be installed using rosdep:
cd ~/catkin_ws/
rosdep install -y --from-paths src --ignore-src
Build ROS packages (on memory constrained platforms you might be going to need to use -j1 key):
cd ~/catkin_ws
catkin_make -j1
To complete mavros install you'll need to install geographiclib datasets:
curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | sudo bash
You may optionally install udev rules to provide /dev/px4fmu symlink to your PX4-based flight controller connected over USB. Copy 99-px4fmu.rules to your /lib/udev/rules.d folder:
cd ~/catkin_ws/src/clover/clover/udev
sudo cp 99-px4fmu.rules /lib/udev/rules.d
Alternatively you may change the fcu_url property in mavros.launch file to point to your flight controller device.
Running
To start connection to the flight controller, use:
roslaunch clover clover.launch
For the simulation information see the corresponding article.
Note that the package is configured to connect to
/dev/px4fmuby default (see previous section). Install udev rules or specify path to your FCU device inmavros.launch.