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fix build error, and adapt readme #8

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Apr 19, 2024
Merged

fix build error, and adapt readme #8

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d544fd2
build dependencies fix
Claudio-Chies Apr 19, 2024
9dca168
update readme, and adapt for braemabuel
Claudio-Chies Apr 19, 2024
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24 changes: 13 additions & 11 deletions README.md
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Expand Up @@ -48,31 +48,33 @@ ros2 launch adaptive_snowsampler launch.xml

## Testing with PX4 Software-In-The-Loop(SITL) simulation

Run the simulation instance
Set the Package Paths
```
cd ~/PX4-Autopilot/
DONT_RUN=1 make px4_sitl_default gazebo-classic
source ~/catkin_ws/devel/setup.bash # (optional)
source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/simulation/gazebo-classic/sitl_gazebo-classic
```
Set the takeoff location
```
export PX4_HOME_LAT=46.785479
export PX4_HOME_LON=9.846803
export PX4_HOME_ALT=2301.23
make px4_sitl gz_x500
```

Run the micro-ros-agent
```
micro-ros-agent udp4 --port 8888
```

Run the node
```
ros2 launch adaptive_snowsampler launch.xml
```
roslaunch adaptive_snowsampler sitl_run.launch

## Setting the leg angle manually:
```
rosservice call /snowsampler/set_landing_leg_angle "35.0"
```

## Running the ground station

To control the vehicle from the ground, we need to connect to the ROS Master on the drone.
Whereby its important that the IP is correct and that the drone and ground station are in the same zerotier network.
Run rviz with the following command.
```
ROS_MASTER_URI=http://172.30.132.111:11311
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1 change: 1 addition & 0 deletions adaptive_snowsampler/CMakeLists.txt
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Expand Up @@ -15,6 +15,7 @@ find_package(catkin REQUIRED COMPONENTS
tf
grid_map_geo
grid_map_ros
grid_map_geo_msgs
eigen_catkin
interactive_markers
planner_msgs
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2 changes: 1 addition & 1 deletion adaptive_snowsampler/launch/sitl_run.launch
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Expand Up @@ -3,7 +3,7 @@
<arg name="fcu_url" default="udp://:[email protected]:14557"/>
<arg name="gcs_url" default="" />
<arg name="visualization" default="false"/>
<arg name="location" default="prodkamm_1m_crop"/>
<arg name="location" default="braemabuel"/>
<arg name="gui" default="false"/>
<arg name="verbose" default="false"/>

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1 change: 1 addition & 0 deletions snowsampler_rviz/package.xml
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Expand Up @@ -10,6 +10,7 @@

<buildtool_depend>catkin</buildtool_depend>
<buildtool_depend>catkin_simple</buildtool_depend>
<build_depend>grid_map_geo_msgs</build_depend>

<depend>mav_msgs</depend>
<depend>roscpp</depend>
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