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REEF_estimator_sim_bundle

Installation

git clone https://github.com/uf-reef-avl/reef_sim_bundle_px4
cd reef_sim_bundle_px4
git submodule update --init --recursive
cd ../..
catkin_make

Reef Estimator

Setting Up The Simulation

  1. Clone PX4 Firmware

    cd ~
git clone https://github.com/PX4/Firmware.git --recursive
cd ~/Firmware

  2. Install PX4 dependencies.

    # Install PX4 "common" dependencies.
./Tools/setup/ubuntu.sh --no-sim-tools --no-nuttx

  3. Build Firmware

    # Build and run simulation
make px4_sitl_default gazebo
# Ctrl+C after Gazebo opens

  4. Source "launch_common.sh" (Do this every time on first launch)

    source ~/catkin_ws/src/reef_estimator_sim_bundle/sim_helper/launch/launch_common.sh
# you may have to adjust this path and launch_common.sh to fit your directories

  • To adjust the number of simulated vehicles modify the launch/launch_sim.launch file. Changing the spawn_turtles argument enables/disables the list of turtlebots.

  • To switch between the two basic modes of flying (basic waypoints and Dubins path) change the waypointmode argument. Default behavior is True which starts the basic waypoints algorithm.

Running The Simulation

  • In one terminal run python scripts/Master.py -i px4.
  • In another terminal run roslaunch sim_helper px4_sim_est_control.launch
  • If the simulation is set to run the setpoint generator code, wait until Takeoff! is printed in the second terminal and then use rosparam set /setpoint_publisher/active true if you are using the setpoint_generator to start the simulated quadcopter. Use rosparam set /setpoint_publisher/active false to signal the quadcopter to head back to the origin. Otherwise, if you are using dubins path, use rosparam set /setpoint_publisher/activaction false to launch it.
  • In another terminal set PX4 to OFFBOARD mode with rosservice call /mavros/set_mode "base_mode: 0 custom_mode: 'OFFBOARD'" *Note: PX4 Params may have to be set in the included params/px4_sitl.param file through QGC
  • To change the IMU Publishing rate (this controls the rate REEF Estimator runs at) use mavlink stream commmands: mavlink stream -d <telem_port> -s Attitude -r <rate> This can either be done via the mavlink console in QGC, or put into the etc/extras.txt on the Pixhawk