first commit

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(px4_offboard_mpc)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

README.md

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+# Sample repository showcasing model predictive control with PX4's offboard mode and ROS 2.
+
+## Install instructions
+
+### ROS 2 Foxy for Ubuntu 20.04 Focal
+#### Source: https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html
+
+1. Uninstall ROS Noetic.
+	```
+	sudo apt-get remove ros-*
+	sudo apt-get autoremove
+	```
+	Remove the installations of Noetic in /opt/ros and /mnt/c/opt/ros.
+	```
+	cd /opt/ros
+	sudo rm -r noetic
+	```
+	Edit your ~/.bashrc and remove all ROS related commands.
+
+
+
+2. Make sure locale has UTF-8.
+	```
+	locale  # check for UTF-8
+	sudo apt update && sudo apt install locales
+	sudo locale-gen en_US en_US.UTF-8
+	sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+	export LANG=en_US.UTF-8
+	locale  # verify settings
+	```
+
+3. Set up sources.
+	```
+	sudo apt install software-properties-common
+	sudo add-apt-repository universe
+	sudo apt update && sudo apt install curl -y
+	sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+	echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+	```
+
+4. Install ROS 2 packages.
+	```
+	sudo apt update
+	sudo apt upgrade
+	sudo apt install ros-foxy-desktop python3-argcomplete # full install with extra visualizer tools and tutorials (RECOMMENDED)
+	sudo apt install ros-foxy-ros-base python3-argcomplete # only has communication libraries and command line tools
+	sudo apt install ros-dev-tools
+	```
+
+5. Source environment and test if it's working.
+	```
+	source /opt/ros/foxy/setup.bash
+	echo 'source /opt/ros/foxy/setup.bash' >> ~/.bashrc
+	ros2 run demo_nodes_cpp talker
+	```
+	In another window run:
+	```
+	ros2 run demo_nodes_py listener
+	```
+
+6. Not sure what this is but PX4 says to install it.
+	```
+	pip install --user -U empy pyros-genmsg setuptools
+	```
+
+
+### PX4 SITL for Ubuntu 20.04 Focal
+#### Source: https://docs.px4.io/main/en/ros/ros2_comm.html#humble
+
+1. Install PX4 development environment in your directory of choice.
+	```
+	git clone https://github.com/PX4/PX4-Autopilot.git --recursive
+	bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
+	cd PX4-Autopilot/
+	make px4_sitl
+	```
+
+
+### Micro XRCE-DDS Agent and Client (the middleware PX4 uses for ROS 2)
+#### Source: https://docs.px4.io/main/en/ros/ros2_comm.html#humble
+
+1. Clone the DDS agent library to your directory of choice.
+	```
+	git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
+	cd Micro-XRCE-DDS-Agent
+	mkdir build
+	cd build
+	cmake ..
+	make
+	sudo make install
+	sudo ldconfig /usr/local/lib/
+	```
+	If you get an error relating to "ASIO_INCLUDE_DIR" when running "make", install this package:
+	```
+	sudo apt-get install libasio-dev
+	```
+
+2. Start the DDS agent.
+	```
+	MicroXRCEAgent udp4 -p 8888
+	```
+
+3. The PX4 SITL contains the client. Run the SITL in a new client.
+	```
+	sudo make px4_sitl gazebo-classic
+	```
+	If you get a build error, check if you have any existing installations of ROS Noetic and delete them.
+	After it successfully builds, you should see the simulation environment in one window and the DDS agent outputting "INFO" messages in its terminal window.
+
+
+### Set up PX4 ROS 2 workspace
+#### Source: https://docs.px4.io/main/en/ros/ros2_comm.html#humble
+
+1. Create a ROS 2 workspace and name it whatever you want. This is where all you develop in.
+	```
+	mkdir -p ros2_ws/src
+	```
+
+2. Clone PX4's packages into your ROS 2 workspace and compile it.
+	```
+	cd ros2_ws/src
+	git clone https://github.com/PX4/px4_msgs.git
+	git clone https://github.com/PX4/px4_ros_com.git
+	cd ..
+	source /opt/ros/foxy/setup.bash
+	colcon build
+
+3. Run this command everytime you've compiled the workspace:
+	```
+	source install/local_setup.bash
+	```
+
+4. Test it out with an example
+	```
+	ros2 launch px4_ros_com sensor_combined_listener.launch.py
+	```

package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>px4_offboard_mpc</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">herpderk</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>