Initialize Px4 - Dieptranivsr/DroneIVSR GitHub Wiki

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##################### FULL PLAN #####################

$ roslaunch mavros px4.launch fcu_url:="/dev/ttyTHS1:921600"

$ rostopic echo /mavros/local_position/pose

$ roslaunch realsense2_camera rs_camera.launch enable_color:=false depth_width:=640 depth_height:=480 depth_fps:=15

$ roslaunch px4_fast_planner outdoor.launch

$ rosbag record -o datn.bag /planning/ref_traj /mavros/local_position/pose


DucAnh
$ rosservice call /land "data: false" 

$ roslaunch geometric_controller mav_trajectory_track_circle.launch init_pos_z:=2

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##################### FULL KINO PLAN #####################

$ roslaunch mavros px4.launch fcu_url:="/dev/ttyTHS1:921600"

$ rostopic echo /mavros/local_position/pose

$ roslaunch realsense2_camera rs_camera.launch enable_color:=false depth_width:=640 depth_height:=480 depth_fps:=15

$ roslaunch px4_fast_planner kino_plan.launch

$ rostopic pub --once /move_base_simple/goal geometry_msgs/PoseStamped

$ rosbag record -o ~/ -a -x "(.*)theora(.*)|(.*)compressed(.*)|(.*)global_position(.*)|(.*)imu(.*)|(.*)geometric_controller(.*)|(.*)setpoint_raw(.*)|(.*)rgb_camera(.*)|(.*)stereo_module(.*)"

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##################### ESDF PLANNER #####################

$ roslaunch mavros px4.launch fcu_url:="/dev/ttyTHS1:921600"

$ roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=15

$ roslaunch esdf_planner hitl_esdf_planner.launch

$ rosbag record -o ~/ -a -x "(.*)theora(.*)|(.*)compressed(.*)|(.*)global_position(.*)|(.*)imu(.*)|(.*)geometric_controller(.*)|(.*)reference(.*)"
$ rosbag record -o ~/ -a -x "(.*)theora(.*)|(.*)compressed(.*)|(.*)global_position(.*)|(.*)imu(.*)|(.*)geometric_controller(.*)|(.*)setpoint_raw(.*)|(.*)rgb_camera(.*)|(.*)stereo_module(.*)"

$ rostopic list -v

$ rostopic echo /mavros/local_position/pose

$ rosbag info .bag

$ roslaunch px4_fast_planner geometric_controller.launch

$ rostopic pub --once /command/trajectory trajectory_msgs/MultiDOFJointTrajectory 

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################### PX4 PATH PLANNER ###################

$ roslaunch mavros px4.launch fcu_url:="/dev/ttyTHS1:921600"

$ roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=15

$ roslaunch px4_fast_planner find_path.launch

$ rostopic pub --once /move_base_simple/goal geometry_msgs/PoseStamped

$ rosbag record -o ~/ -a -x "(.*)theora(.*)|(.*)compressed(.*)|(.*)global_position(.*)|(.*)imu(.*)|(.*)geometric_controller(.*)|(.*)setpoint_raw(.*)|(.*)rgb_camera(.*)|(.*)stereo_module(.*)"