sudo gedit /opt/ros/melodic/share/mavros/launch/px4.launch

sudo chmod 777 /dev/ttyACM0 sudo chmod 666 /dev/ttyUSB0 or sudo chmod 666 /dev/ttyTHS1 or sudo chmod 666 /dev/ttyTHS2 sudo chmod 666 /dev/ttyTHS1 roslaunch mavros px4.launch

catkin clean catkin_make //catkin_make offboard_drone

rostopic list rostopic echo /mavros/imu/data

source ~/catkin_ws/devel/setup.bash rosrun offboard_drone offboard_node // when flight test, use this cmd cause of launch file roslaunch offboard_drone offboard_node.launch

roslaunch modudculab_ros ctrl_pos_gazebo.launch

ifconfig 172.20.10.9

available serial port dmesg |grep tty cat /dev/ttyTHS2

[speed] < [serial port] stty 115200 < /dev/ttyS0

mavlink qgroundcontrol setting !! mavlink0 - TEL1 (GCS ) mavlink1 - TEL2 jetson nano (57600)

$ roscore $ rosrun jetbot_ros jetbot_camera

first open a new terminal

$ sudo apt-get install ros-melodic-image-view $ rosrun image_view image_view image:=/jetbot_camera/raw

offboard 에서 실행되는 명령어 순서 terminal #1 sudo chmod 666 /dev/ttyTHS1 roslaunch mavros px4.launch terminal #2 cd catkin_ws/ source ~/catkin_ws/devel/setup.bash rosrun offboard_drone offboard_node terminal #3 source ~/catkin_ws/devel/setup.bash rosrun jetbot_ros jetbot_camera terminal #4 source ~/catkin_ws/devel/setup.bash roslaunch darknet_ros darknet_ros.launch terminal #5 source ~/catkin_ws/devel/setup.bash rostopic echo /darknet_ros/bounding_boxes

video save video location postion cal object detection result to ROS modified offboard_drone file flight

ssh [email protected]

jetson nano power model nvpmdodel -q : current power mode cpu core4 sudo nvpmodel -m0 : power max when using adapter 5v, 4A cpu core2 sudo nvpmodel -m1 : 5w mode

To disable GUI on boot, run: $sudo systemctl set-default multi-user.target To enable GUI again issue the command: $sudo systemctl set-default graphical.target To start Gui session on a system without a current GUI just execute: $sudo systemctl start gdm3.service memory check $ free -m

gazebo SITL 에서 실행되는 명령어 순서 Terminal #1 $roscore Terminal #2 $cd src/Firmware $make px4_sitl_default gazebo Terminal #3 $roslaunch modudculab_ros ctrl_pos_gazebo.launch fcu_url:="udp://:[email protected]:14557" catkin build offboard_drone roslaunch offboard_drone offboard_node Terminal #4 command $rosrun mavros mavsafety arm $rosrun mavros mavsys mode -c OFFBOARD

jetsonnano - gazebo SITL 에서 실행되는 명령어 순서 #linux computer terminal #1 cd src/Firmware no_sim=1 make px4_sitl_default gazebo terminal #2 cd src/Firmware source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default roslaunch gazebo_ros empty_world.launch world_name:=$(pwd)/Tools/sitl_gazebo/worlds/iris.world #jetsonnano terminal #1 roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14580" terminal #2 오프모드 런치 / 카메라 런치 / 딥러닝 모델 런치 ~

ROS - gazebo SITL 에서 실행되는 명령어 순서 linux computer terminal #1 cd src/Firmware no_sim=1 make px4_sitl_default gazebo terminal #2 cd src/Firmware source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default roslaunch gazebo_ros empty_world.launch world_name:=$(pwd)/Tools/sitl_gazebo/worlds/iris_modified.world

가제보에서 ctrl+t 누르면 가제보 토픽 메세지 볼수있으며 카메라 부분 선택하면 이미지를 볼 수 있음 또는 터미널에서 rostopic echo /iris_modified/usb_cam/image_raw (모델에 fpv _camera가 추가되어 있어야함)

ROS - gazebo SITL + gazebo image_raw 에서 실행되는 명령어 순서 #jetsonnano terminal #1 roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14580" terminal #2 오프모드 런치 / 딥러닝 모델 런치 ~ (image raw 경로 수정 하고 darknet_ros 다시 빌드하여 실행) #linux computer terminal #1 cd src/Firmware no_sim=1 make px4_sitl_default gazebo terminal #2 cd src/Firmware source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default roslaunch gazebo_ros empty_world.launch world_name:=$(pwd)/Tools/sitl_gazebo/worlds/iris_modified.world

ros topic save rosbag record -O subset /turtle1/cmd_vel /turtle1/pose