Part 12 ROS - terrytaylorbonn/auxdrone GitHub Wiki
24.0625 (24.0508 need to combine from "Total sim P2 ROS")
ROS is a big topic. I just experimented, did a few demos. But in the future I plan to spend a lot of time on this. But for beginners its too complicated and not necessary.
- 12.1_(5.4-1a)ROS(sim-robocar)_v10_23.1222.docx (i did "UTRA Roboscooter playlist" demo.. WORKED!)
- 12.2_(5.4-3)_ros_eduard_v04_23.0101_0207.docx (last part: i did "URDF with ROS2" demo, WORKED!)
- 12.2b_(7)_ros_gazebo_v03_23.0101.docx (this seems to be last part of 12.2, the demo i did)
- 12.3_(5.4-3b)_ros_ubuntu_v02_24.0101.docx (no demos, just collection of docs)
In 10.2 SITL AP C++ mission as ROS node shows how to write program C++ that becomes a ROS node and sends mission commands to FC via MavROS.
In the diagram below:
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Video 07: Create ROS node code. @100 catkin dirs in sublime. @140 clone iq_gnc (his api). @210 Add to CMakeLists.txt. square.cpp. (just use gnc_tutorial.cpp, completed version). Creates the ROS node that sends ROS commands to MAVROS (MAVROS sends Mavlink commands to FC). @850 catkin build. source bashrc. @930 startup sequence 1 Roslaunch iq_sim runway.launch (starts GAZ and the non-existent ROS master) 2 startsitl.sh 3 roslaunch iq_sim apm.launch (MavROS) 4 rosrun iq_gnc square.cpp @1135 takeoff.
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Video 08: Create ROS node mission code. .cpp code that runs a mission.
I will add the port numbers later.
There is also good IQuads video fro MavROS. MAVROS (should be called ROSMAV) takes ROS messages and sends out over Mavlink.
The robot operating system (ROS, ROS2) is a messaging system that allows components on the drone to communicate via standard messages.
(terry modification of Eduard doc)
The CC would be the ROS master that is the central hub for messaging.
This is a very important topic, but one I avoided early because
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Was not required to get the job done.
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Complex installation and configuration. ROS2 is a complete rewrite of ROS1! What could go wrong?
https://github.com/dnovischi/jetson-tutorials/blob/main/jetson-nano-ros-noetic-install.md
The goal of this guide is to compile and install a fully working version of ROS Noetic on both the official Jetson Nano Ubuntu 18.04 with python 3.6 support and Ubuntu 20.04 with python 3.8 support. The steps are the same for both distributions since the installation is done from source. Moreover, the steps should, generally, be the same for all other Jetson boards. It is my opinion that this should be the preferred way of installing ROS1 on Jetson and I had the the most success when doing it this way.
The guide assumes that a clean and up-to-date Ubuntu 18.04 or Ubuntu 20.4 installation was done on the Jetson Nano. The steps for this are discussed in the Jetson Nano Ubuntu 18.04 Full Install guide and in the Ubuntu 20.04 Install Through Distribution Upgrade respectively.
First make sure you have gcc-10 and g++-10 activated: sudo update-alternatives --config gcc sudo update-alternatives --config g++
https://www.youtube.com/playlist?list=PLLSegLrePWgIbIrA4iehUQ-impvIXdd9Q
https://www.youtube.com/watch?v=wfDJAYTMTdk
seems like custom hw have to buy.
https://www.youtube.com/watch?v=-5CeeMZx3jQ
https://nepi.com/software-nepi-engine/
https://www.youtube.com/channel/UCjxJg-gzycB-_JIXnEeLX8w/videos
I am interested and currently working in the areas of spatial computing and robotics. I develop iOS, C#, OBJ-C, C++ and Python apps, control systems and IoT. ROS2, ROS, ISAAC, Realsense, MoveIT, OpenVINO, Micro-ROS and NVIDIA Jetson products. I work for Amazon (AWS) but this channel is my personal musings.
Pratik Phadte https://www.youtube.com/watch?v=wu7xzIoHlFE
Muhammad Luqman 17 Dec 2022
