PX4-ROS2-offboard-example

https://docs.px4.io/main/en/ros2/user_guide.html

1. Install ROS2 Humble

pip install --user -U empy pyros-genmsg setuptools --break-system-packages

2. Install PX4-Autopilot

cd
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh

cd PX4-Autopilot/
make px4_sitl gz_x500

sudo apt install python3-colcon-common-extensions
mkdir -p ~/ws_offboard_control/src/
cd ~/ws_offboard_control/src/
git clone https://github.com/PX4/px4_msgs.git
git clone https://github.com/PX4/px4_ros_com.git

cd ..
source /opt/ros/humble/setup.bash
colcon build

source ~/ws_offboard_control/install/local_setup.bash

3. Setup Micro XRCE-DDS Agent & Client

cd
pip3 install --user -U empy pyros-genmsg setuptools
git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
cd Micro-XRCE-DDS-Agent
mkdir build
cd build
cmake ..
make
sudo make install
sudo ldconfig /usr/local/lib/

4. Sim

MicroXRCEAgent udp4 -p 8888

cd ~/PX4-Autopilot
Tools/simulation/gazebo-classic/sitl_multiple_run.sh -s "iris:3"

python3 offboard_simple.py