Navida Yazılım Doc
Ros2 Kurulumu
https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
Gazebo Garden Kurulumu
https://gazebosim.org/docs/garden/install_ubuntu/
Mavros Kurulumu
https://github.com/mavlink/mavros/blob/ros2/mavros/README.md
Ardupilot Kurulumu
https://ardupilot.org/dev/docs/building-setup-linux.html#building-setup-linux https://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html
git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git
cd ardupilot
Tools/environment_install/install-prereqs-ubuntu.sh -y
. ~/.profile
Now from the ardupilot directory we just created start the simulation once to finish its setup, you can close it afterwards.
Colcon Workspace'i Ayağa Kaldırma
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Workspace'i klonla.
veya ssh keyin varsa
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ZED SDK ve ROS Wrapper kurulumu.
Bu adımı sadece gerçek araçta kurulum yaparken yapmamız gerekiyor, simulasyonda için gerçek zed kullanılmadığı için bu adım atlanabilir. Eğer simulasyon için kurulum yapıyorsanız src/zed_ros2_examples ve src/zed-ros2-wrapper dosyalarını localinizden silin. Ancak Gite pushlarken bu sildiğiniz dosyaları commitlemeyin, sadece diğer değiştirdiğiniz dosyaları stage edip commitleyin.
https://www.stereolabs.com/docs/ros2
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Colconu buildle ve sourcela.
sudo apt install python3-sdformat13 ros-humble-ros-gzgarden ros-humble-xacro cd ros2-ws git checkout -b develop pip3 install -r src/yolo_ros/requirements.txt rosdep install --from-paths src --ignore-src -r -y colcon build --merge-install --cmake-args=-DCMAKE_BUILD_TYPE=Release source install/setup.bash--cmake-args kısmını sadece cmake buildlerken verseniz yeterli. Hızlı build almak için bir kere yaptıktan sonra kullanmayabilirsiniz.
Ardupilot_gazebo Plugini
https://github.com/ArduPilot/ardupilot_gazebo
sudo apt update
sudo apt install libgz-sim7-dev rapidjson-dev
sudo apt install libopencv-dev libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl
export GZ_VERSION=garden
sudo bash -c 'wget https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list -O /etc/ros/rosdep/sources.list.d/00-gazebo.list'
rosdep update
rosdep resolve gz-garden
# Navigate to your ROS workspace before the next command.
rosdep install --from-paths src --ignore-src -y
cd ~/
git clone https://github.com/ArduPilot/ardupilot_gazebo
cd ardupilot_gazebo
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
make -j4
export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH
export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH
echo 'export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:${GZ_SIM_SYSTEM_PLUGIN_PATH}' >> ~/.bashrc
echo 'export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:${GZ_SIM_RESOURCE_PATH}' >> ~/.bashrc
source ~/.bashrc
Mavros Yaml
/opt/ros/humble/share/mavros/apm_config.yaml dosyasını bunla değiştir.
# Common configuration for APM2 autopilot
#
/**:
ros__parameters:
startup_px4_usb_quirk: false
# --- system plugins ---
# sys_status
/**/sys:
ros__parameters:
min_voltage: [10.0] # diagnostics min voltage, use a vector i.e. [16.2, 16.0] for multiple batteries, up-to 10 are supported
# to achieve the same on a ROS launch file do: <rosparam param="sys/min_voltage">[16.2, 16.0]</rosparam>
disable_diag: false # disable all sys_status diagnostics, except heartbeat
heartbeat_rate: 1.0 # send heartbeat rate in Hertz
heartbeat_mav_type: "ONBOARD_CONTROLLER"
conn_timeout: 10.0 # heartbeat timeout in seconds
# sys_time
/**/time:
ros__parameters:
time_ref_source: "fcu" # time_reference source
timesync_mode: MAVLINK
timesync_avg_alpha: 0.6 # timesync averaging factor
timesync_rate: 10.0 # TIMESYNC rate in Hertz (feature disabled if 0.0)
system_time_rate: 1.0 # send system time to FCU rate in Hertz (disabled if 0.0)
# --- mavros plugins (alphabetical order) ---
# 3dr_radio
/**/tdr_radio:
ros__parameters:
low_rssi: 40 # raw rssi lower level for diagnostics
# actuator_control
# None
# command
/**/cmd:
ros__parameters:
use_comp_id_system_control: false # quirk for some old FCUs
# dummy
# None
# ftp
# None
# global_position
/**/global_position:
ros__parameters:
frame_id: "map" # origin frame
child_frame_id: "base_link" # body-fixed frame
rot_covariance: 99999.0 # covariance for attitude?
gps_uere: 1.0 # User Equivalent Range Error (UERE) of GPS sensor (m)
use_relative_alt: true # use relative altitude for local coordinates
tf.send: false # send TF?
tf.frame_id: "map" # TF frame_id
tf.global_frame_id: "earth" # TF earth frame_id
tf.child_frame_id: "base_link" # TF child_frame_id
# imu_pub
/**/imu:
ros__parameters:
frame_id: "wamv/wamv/base_link"
# need find actual values
linear_acceleration_stdev: 0.0003
angular_velocity_stdev: 0.0003490659 # 0.02 degrees
orientation_stdev: 1.0
magnetic_stdev: 0.0
# local_position
/**/local_position:
ros__parameters:
frame_id: "map"
tf.send: true
tf.frame_id: "map"
tf.child_frame_id: "wamv/wamv/base_link"
tf.send_fcu: false
# param
# None, used for FCU params
# rc_io
# None
# setpoint_accel
/**/setpoint_accel:
ros__parameters:
send_force: false
# setpoint_attitude
/**/setpoint_attitude:
ros__parameters:
reverse_thrust: false # allow reversed thrust
use_quaternion: false # enable PoseStamped topic subscriber
tf.listen: false # enable tf listener (disable topic subscribers)
tf.frame_id: "map"
tf.child_frame_id: "target_attitude"
tf.rate_limit: 50.0
# setpoint_raw
/**/setpoint_raw:
ros__parameters:
thrust_scaling: 1.0 # specify thrust scaling (normalized, 0 to 1) for thrust (like PX4)
# setpoint_position
/**/setpoint_position:
ros__parameters:
tf.listen: false # enable tf listener (disable topic subscribers)
tf.frame_id: "map"
tf.child_frame_id: "target_position"
tf.rate_limit: 50.0
mav_frame: LOCAL_NED
# guided_target
/**/guided_target:
ros__parameters:
tf.listen: false # enable tf listener (disable topic subscribers)
tf.frame_id: "map"
tf.child_frame_id: "target_position"
tf.rate_limit: 50.0
# setpoint_velocity
/**/setpoint_velocity:
ros__parameters:
mav_frame: LOCAL_NED
# vfr_hud
# None
# waypoint
/**/mission:
ros__parameters:
pull_after_gcs: true # update mission if gcs updates
use_mission_item_int: true # use the MISSION_ITEM_INT message instead of MISSION_ITEM
# for uploading waypoints to FCU
# --- mavros extras plugins (same order) ---
# adsb
# None
# debug_value
# None
# distance_sensor
## Currently available orientations:
# Check http://wiki.ros.org/mavros/Enumerations
##
/**/distance_sensor:
ros__parameters:
config: |
rangefinder_pub:
id: 0
frame_id: "lidar"
# orientation: PITCH_270 # sended by FCU
field_of_view: 0.0 # XXX TODO
send_tf: false
sensor_position: {x: 0.0, y: 0.0, z: -0.1}
rangefinder_sub:
subscriber: true
id: 1
orientation: PITCH_270 # only that orientation are supported by APM 3.4+
# image_pub
/**/image:
ros__parameters:
frame_id: "px4flow"
# fake_gps
/**/fake_gps:
ros__parameters:
# select data source
use_mocap: true # ~mocap/pose
mocap_transform: false # ~mocap/tf instead of pose
mocap_withcovariance: false # ~mocap/pose uses PoseWithCovarianceStamped Message
use_vision: false # ~vision (pose)
use_hil_gps: true
gps_id: 4
# origin (default: Zürich)
geo_origin.lat: 47.3667 # latitude [degrees]
geo_origin.lon: 8.5500 # longitude [degrees]
geo_origin.alt: 408.0 # altitude (height over the WGS-84 ellipsoid) [meters]
eph: 2.0
epv: 2.0
horiz_accuracy: 0.5
vert_accuracy: 0.5
speed_accuracy: 0.0
satellites_visible: 6 # virtual number of visible satellites
fix_type: 3 # type of GPS fix (default: 3D)
tf.listen: false
tf.send: false # send TF?
tf.frame_id: "map" # TF frame_id
tf.child_frame_id: "fix" # TF child_frame_id
tf.rate_limit: 10.0 # TF rate
gps_rate: 5.0 # GPS data publishing rate
# landing_target
/**/landing_target:
ros__parameters:
listen_lt: false
mav_frame: "LOCAL_NED"
land_target_type: "VISION_FIDUCIAL"
image.width: 640 # [pixels]
image.height: 480
camera.fov_x: 2.0071286398 # default: 115 [degrees]
camera.fov_y: 2.0071286398
tf.send: true
tf.listen: false
tf.frame_id: "landing_target"
tf.child_frame_id: "camera_center"
tf.rate_limit: 10.0
target_size: {x: 0.3, y: 0.3}
# mocap_pose_estimate
/**/mocap:
ros__parameters:
# select mocap source
use_tf: false # ~mocap/tf
use_pose: true # ~mocap/pose
# mount_control
/**/mount:
ros__parameters:
debounce_s: 4.0
err_threshold_deg: 10.0
negate_measured_roll: false
negate_measured_pitch: false
negate_measured_yaw: false
# odom
/**/odometry:
ros__parameters:
fcu.odom_parent_id_des: "map" # desired parent frame rotation of the FCU's odometry
fcu.odom_child_id_des: "map" # desired child frame rotation of the FCU's odometry
# px4flow
/**/px4flow:
ros__parameters:
frame_id: "px4flow"
ranger_fov: 0.118682 # 6.8 degrees at 5 meters, 31 degrees at 1 meter
ranger_min_range: 0.3 # meters
ranger_max_range: 5.0 # meters
# vision_pose_estimate
/**/vision_pose:
ros__parameters:
tf.listen: false # enable tf listener (disable topic subscribers)
tf.frame_id: "map"
tf.child_frame_id: "vision_estimate"
tf.rate_limit: 10.0
# vision_speed_estimate
/**/vision_speed:
ros__parameters:
listen_twist: true # enable listen to twist topic, else listen to vec3d topic
twist_cov: true # enable listen to twist with covariance topic
# vibration
/**/vibration:
ros__parameters:
frame_id: "base_link"
# wheel_odometry
/**/wheel_odometry:
ros__parameters:
count: 2 # number of wheels to compute odometry
use_rpm: false # use wheel's RPM instead of cumulative distance to compute odometry
wheel0: {x: 0.0, y: -0.15, radius: 0.05} # x-, y-offset (m,NED) and radius (m)
wheel1: {x: 0.0, y: 0.15, radius: 0.05} # x-, y-offset (m,NED) and radius (m)
send_raw: true # send wheel's RPM and cumulative distance (~/wheel_odometry/rpm, ~/wheel_odometry/distance)
send_twist: false # send geometry_msgs/TwistWithCovarianceStamped instead of nav_msgs/Odometry
frame_id: "map" # origin frame
child_frame_id: "base_link" # body-fixed frame
vel_error: 0.1 # wheel velocity measurement error 1-std (m/s)
tf.send: true
tf.frame_id: "map"
tf.child_frame_id: "base_link"
# camera
/**/camera:
ros__parameters:
frame_id: "base_link"
Vrx Sim
Ardupilot
sim_vehicle.py -v Rover -f rover-skid --model JSON --console --map --custom-location='-33.724223,150.679736,0.0,0.0'