Setup

• WSL
• ROS
• Gazebo
• Clone this repo into ros2 workspace src folder
• https://github.com/ros/sdformat_urdf

Our specific setup

• Ubuntu 22.04 LTS
• ROS2 Humble
• Gazebo Harmonic
• PX4 Autopilot 1.16
• px4_msgs 1.16

QGC Parameters	Description
COM_RC_IN_MODE = 5	RC > MAVL for manual control
COM_RC_OVERRIDE = 3	Enable override during offboard mode
COM_OBL_RC_ACT = 2	Return mode
EKF2_GPS_CTRL: 1 # enable GPS fusion
EKF2_HGT_REF: 0 # use baro as height reference initially
EKF2_BARO_CTRL: 1 # always want baro
EKF2_MAG_TYPE: 1 # always want mag fusion
EKF2_MULTI_IMU: 1 # dual IMU on real FC
param set SENS_IMU_AUTOCAL 0 # disable auto-calibration checks
param set COM_ARM_IMU_ACC 1.0 # relax accel check threshold
Tune EKF2 to expect higher noise (keeps realistic noise)
bashparam set EKF2_ACC_NOISE 0.5 # default 0.35
param set EKF2_ABL_NOISE 0.02 # default 0.01
param set EKF2_ABL_LIM 0.8 # default 0.4
param set EKF2_ABL_TAU 0.5 # default 0.4, slower bias learning

Parameters for simulation UXRCE_DDS_SYNCT 0

env source /opt/ros/humble/setup.bash export ROS_DOMAIN_ID=0

Build and run SITL simulation

• Run QGroundControl
• Run riv2
• Goto ros2 workspace and run:

colcon build --packages-select drone_bringup drone_interface drone_sim && source install/setup.bash && ros2 launch drone_sim sim.launch.py

or

pkill -9 -f gz; colcon build --packages-select drone_bringup drone_interface && source install/setup.bash && ros2 launch drone_bringup sim.launch.py

Run on real hardware

• Run QGroundControl
• Run riv2
• Goto ros2 workspace and run:

ros2 launch drone_bringup real.launch.py

TODO

• Move everyting to separete dev folder and test
• Add the custom drone model to repo
• Add custom world
• Get turtlebot3_house working
• Add setup instructions to repo
• Upload to github
• Improve simulation SLAM
• Add navigation
• Add dynamic map
• Make compatible with real drone
• Try HITL
• Setup raspberry PI as hotspot for direct SSH
• Connect to QGroundControl wirelessly
• adjust
• Sensor integration
• path env variable for px4 and qgc
• make urdf for robot state pub to replae static tf