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Launching the MicroRTPS Agent and VRPN Nodes

Table of Contents

  1. Launching the MicroRTPS Agent
  2. Launching the VRPN Nodes

MICRORTPS Agent

Ensure you have permission specified to access all the serial ports.

sudo groups $USER 
sudo usermod -a -G dialout $USER
  • Open a Terminal and run the following commands:
  • Source ROS2 and Workspace
source /opt/ros/foxy/setup.bash
source ~/colcon_ws/install/local_setup.bash

Run the following command to launch the MicroRTPS Agent:

micrortps_agent -t UART -b 1500000 -d /dev/ttyUSB0 -v

This should launch micrortps_agent and the communication between the Upboad and PIXHAWK should have been established. You can check this by echoing the sensorcombined topic.

ros2 topic echo /fmu/sensor_combined/out

You should be able to see the IMU values on your terminal

On the PIXHAWK side, in the console enter the following command to check if the micrortps_client is running:

micrortps_client status

At this point you have successfully established the connection pipeline between the Upboard and PIXHAWK, the upcoming steps will help you to inject the Mocap data into the PIXHAWK.

VRPN Nodes

Run the following commands to launch the VRPN nodes:

ros2 launch vrpn_client_ros sample.launch.py
ros2 run px4_vrpn_pubsub mocap_pubsub

This should launch the VRPN nodes and the communication between the Raspi and the VRPN server should have been established. If you had already launched the micrortps_agent, you can check this by echoing the vehicle_visual_odometry topic in the QGC.

listener vehicle_visual_odometry

This should see the data being published and should look like this.

QGC

Also in the MAVLink Inspector you should see the topic LOCAL_POSITION_NED topic.