... | ... | @@ -62,19 +62,18 @@ Example: |
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roslaunch mavros apm.launch fcu_url:=tcp://localhost gcs_url:=udp://@
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```
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## Launch ROS node
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source you setup.bash
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**Clear the area**
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## Launch Realsense Node [As required]
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## Source setup.bash
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source you setup.bash
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```shell
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roslaunch realsense2_camera rs_camera.launch
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source <WORKSPACE_PATH>/devel/setup.bash
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```
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## Launch YDLidar Node [As required]
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## Launch Supporting ROS Nodes
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```shell
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roslaunch ydlidar lidar.launch
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cd <droneoa_ros>/launch
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roslaunch step1.launch
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```
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**Note:** For first time launch, run the following script to create a device name for ydlidar.
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```shell
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... | ... | @@ -84,14 +83,16 @@ sudo sh initenv.sh |
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```
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You may need to disconnect and reconnect the camera.
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## Launch ROS node
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source you setup.bash
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## Launch droneoa ROS Node
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Launch droneoa_ros node, which accept command input.
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```shell
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source <WORKSPACE_PATH>/devel/setup.bash
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rosrun droneoa_ros droneoa_ros
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cd <droneoa_ros>/launch
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roslaunch step2.launch
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```
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## Simple Summary:
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## [Alternative] Launch Node Manually:
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Using provided step1 step2 launch file is recommended.
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Open up a terminal with 4 tabs:
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- tab1: SITL instance
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```shell
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... | ... | @@ -103,11 +104,15 @@ sim_vehicle.py -v ArduCopter --console --map |
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cd <launch file folder>
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roslaunch apm.launch
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```
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- tab3: realsense node
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- tab3: realsense node [Can be disabled in PDN file]
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```shell
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roslaunch realsense2_camera rs_camera.launch
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```
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- tab4: droneoa_ros node
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- tab4: lidar scanner node [Can be disabled in PDN file]
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```shell
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roslaunch ydlidar lidar.launch
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```
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- tab5: droneoa_ros node
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```shell
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rosrun droneoa_ros droneoa_ros
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``` |
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\ No newline at end of file |