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Wild_Nav_Master_Thesis

Open source autonomous drone path planning package written in python using ROS2 and PX4 Autopilot.

Setting up the environment

1. ROS2 Foxy Distro

Check out the guide here for binary install.

2. PX4 Autopilot (hang in there, this one is quite tough :))

Install dependencies using the guide here
Build PX4 using guide here

3. ROS2-PX4 Bridge

Install only Fast-RTPS-Gen using the guide here because Fast DDS comes pre-installed with ROS2 Foxy.
Then follow the guide here.

Test autonomous flight package in Gazebo

a. Source ROS2 install:
source ~/ros2_foxy/ros2-linux/setup.bash
b. Source ROS2-PX4 comm package:
source ~/px4_ros_com_ros2/install/setup.bash

c. Launch simulation:
make px4_sitl_rtps gazebo
d. Launch RTPS agent used for communication between ROS2-PX4
micrortps_agent -t UDP
e. Finally run python package