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Workspace Setup

Table of Contents

  1. PX4 - ROS2 Packages
  2. VRPN - ROS2 Packages
  3. MoCAP Setup and Configuration

PX4 - ROS2 Packages

  • Clone the following repositories into the src folder of the Colcon_ws workspace.
git clone -b PX4-Autopilot-v1.13.0 git@github.com:ASU-RISE-Lab/px4_msgs.git
git clone -b PX4-Autopilot-v1.13.0 git@github.com:ASU-RISE-Lab/px4_ros_com.git
git clone -b v1.13.0 https://github.com/PX4/PX4-Autopilot.git --recursive
  • Verify that the repos are corrent by verifying the below SHA1 hashes.
cd package_name
git rev-parse HEAD
  • PX4-Autopilot - 6823cbc4140e29568f00e1211ae60e057adb1a1f

The following is described only for understanding and not required for the setup.

The PX4_MSGS repo will have the corresponsing messages for the PX4-Autopilot v.1.13.0.

This was done using the follwing command:

cd ~/colcon_ws/src/PX4-Autopilot/msg/tools
mkdir px4_msgs
python3 uorb_to_ros_msgs.py ~/colcon_ws/src/PX4-Autopilot/msg/ px4_msgs/

This should have generate the messages in the px4_msgs folder. Copy those files and paste in the following directory ~/colcon_ws/src/px4_msgs/msg, please delete the previous messages before copying the new ones.

Similarly, the PX4_ROS_COM repo will have the corresponsing .yaml file for the PX4-Autopilot v.1.13.0.

This was done using the follwing command:

cd ~/colcon_ws/src/PX4-Autopilot/msg/tools
python3 uorb_to_ros_urtps_topics.py -i urtps_bridge_topics.yaml -o new_rtps_ids.yaml

The above command would have generated a file name new_rtps_ids.yaml which is to be copied and pasted in the ~/colcon_ws/src/px4_ros_com/templates folder. There will a file named urtps_bridge_topics.yaml in that directory, please replace the newly generated file with that and renaming it to the same.

Building the PX4 - ROS2 Packages

cd ~/colcon_ws/
source install/setup.bash
source /opt/ros/foxy/setup.bash
colcon build --packages-select px4_msgs px4_ros_com px4 --event-handlers console_direct+

VRPN - ROS2 Packages

  • Clone the following repositories into the src folder of the Colcon_ws workspace.
  • Important: Tested for CMAKE versions 14.0.x , 15.x.x & 16.x.x only.
git clone git@github.com:ASU-RISE-Lab/vrpn.git
git clone git@github.com:ASU-RISE-Lab/vrpn_client_ros.git
git clone git@github.com:ASU-RISE-Lab/px4_vrpn.git

Building the VRPN - ROS2 Packages

cd ~/colcon_ws/
colcon build --packages-select vrpn --event-handlers console_direct+
source install/setup.bash
colcon build --packages-select vrpn_client_ros --event-handlers console_direct+
source install/setup.bash
colcon build --packages-select px4_vrpn_pubsub --event-handlers console_direct+

MoCAP Setup and Configuration

Create the Rigid Body of your drone in the Optitrack software named “RigidBody1”

nano or gedit ~/colcon_ws/src/vrpn_client_ros/config/sample.params.yaml

Update the “server:10.203.53.82” to the IP address of your MoCAP system.