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Abhiswarming ROS package

Note

Switch to ROS1 branch here

Index

  1. Requirements
  2. Special Instructions

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.