AutonomousFlight

Deep Reinforcement Based Autonomous Flight

Features (in progress )

Phase 0

• Utilized the latest versions of Gazebo (Ignition) Simulator (Gazebo Garden), PX4 (v1.14) on Ubuntu 22.04
• Support ROS2(Humble) based PX4 offboard control

Phase 1

• Implement Lidar to X500 model
• Implement advanced Deep Reinforcement Learning (DRL) for local navigation

Phase 2

• Implement SLAM
• Implement Global Path Planning

Setup

PX4 setup

Use the ubuntu.sh script in PX4 repo will install PX4&Gazebo Garden on Ubuntu 22.04. https://docs.px4.io/main/en/dev_setup/dev_env_linux_ubuntu.html

ROS2

Install ROS2 Humble. https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

Source in the bash shell

source /opt/ros/humble/setup.bash

Gazebo - ROS2 Configuration

Check the "Using a specific and unsupported Gazebo version with ROS 2" in the following link https://gazebosim.org/docs/garden/ros_installation -> some command should be modified,follow the instrutions below.

• Installing rosdep rules to resolve Gazebo Garden libraries

sudo bash -c 'wget https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list -O /etc/ros/rosdep/sources.list.d/00-gazebo.list'
rosdep update
<!-- check that resolve works --> 
rosdep resolve gz-garden

• Installing (ros_gz packages)[https://github.com/gazebosim/ros_gz/tree/humble] which includes ros_gz_bridge

  Create a colcon workspace:

  export GZ_VERSION=garden
  <!-- Setup the workspace -->
  mkdir -p ~/ws/src
  cd ~/ws/src
  

  Install dependencies (this may also install Gazebo):

  cd ~/ws
  rosdep install -r --from-paths src -i -y --rosdistro humble
  

  Build the workspace:

  <!-- Source ROS distro's setup.bash -->
  source /opt/ros/humble/setup.bash
  
  <!-- Build and install into workspace -->
  cd ~/ws
  colcon build
  
  <!-- Download needed software -->
  git clone https://github.com/gazebosim/ros_gz.git -b humble
  

  Try this example & check supported msgs after installation from https://gazebosim.org/docs/garden/ros2_integration You need to source to use ros_gz_bridge

  source ~/ws/install/setup.bash
  

PX4 - ROS2 Configuration

Setup Micro XRCE-DDS Agent & Client from https://docs.px4.io/main/en/ros/ros2_comm.html

QGroundControl

Download QGC from http://qgroundcontrol.com/

Progress

Init

make px4_sitl gz_x500

Implemented Lidar sensor : modified model

Implemented ROS2

Running offboard example

• Run MicroXRCEAgent

MicroXRCEAgent udp4 -p 8888

• Run QGC & TakeOff & change it to Offboard Control mode

• Install Px4_ros_com & px4_mgs, and run offboard example

mkdir example_ws
cd example_ws
mkdir src
git clone https://github.com/PX4/px4_msgs.git
git clone https://github.com/PX4/px4_ros_com.git src/px4_ros_com
git clone https://github.com/Jaeyoung-Lim/px4-offboard.git src/px4-offboard
colcon build
source ../example_ws/install/setup.bash
ros2 topic echo /fmu/out/vehicle_status
ros2 launch px4_offboard offboard_position_control.launch.py

• demo video