q250 접속

kwon 5G

 

 

ssh -X quad@192.167.1.31

quad1234

 

 

source /opt/ros/foxy/setup.bash

나의 버전

 

---

1. 우선 설치되어 있는 것들

• libmavconn
  • MavLink 전송 계층 라이브러리. MAVROS의 하위 의존성
•  mavlink
  • MAVLink 메시지 정의/생성물. MAVROS가 기반으로 사용됨.
• mavros
  • MAVLink <--> ROS2 브릿지의 핵심 노드 패키지....
• mavros_extras
  • MAVROS 부가 노드/플러그인 모음
• mavros_msgs
  • MAVROS에서 사용하는 ROS2 메시지/서비스/액션 인터페이스
• offb_mavros_py
  • 오프보드 제어용... 이건 아마 드론 회사가 만들어 놓은걸로 보임
• px4_msgs
  • PX4용 ros2 메시지 패키지
• px4_ros_com
  • px4와 ros2사이 통신 예제/노드  
  •  

 

 

 

2.

ros2 launch mavros px4.launch   fcu_url:=serial:///dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0:921600   fcu_protocol:=v2.0

 

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 1 map base_link_frd

 

 

ros2 run mavros mavros_node --ros-args \
  -p fcu_url:=/dev/ttyUSB0:115200 \
  --log-level debug

 

ros2 run mavros mavros_node --ros-args \
  -p fcu_url:=/dev/ttyUSB0:115200 \
  --log-level info

 

 

ros2 run mavros mavros_node --ros-args \
  -p fcu_url:=udp://:14540@ \
  -p gcs_url:=udp-b://@0.0.0.0:14550 \
  --log-level info

 

 

 

 

 

3. 위의 결과에 따른 노드 리스트

quad@orin-nano:/opt$ ros2 node list
/mavros
/mavros/actuator_control
/mavros/adsb
/mavros/altitude
/mavros/cam_imu_sync
/mavros/camera
/mavros/cellular_status
/mavros/cmd
/mavros/companion_process
/mavros/debug_value
/mavros/distance_sensor
/mavros/esc_status
/mavros/esc_telemetry
/mavros/fake_gps
/mavros/ftp
/mavros/geofence
/mavros/global_position
/mavros/gps_input
/mavros/gps_rtk
/mavros/gpsstatus
/mavros/guided_target
/mavros/hil
/mavros/home_position
/mavros/imu
/mavros/landing_target
/mavros/local_position
/mavros/log_transfer
/mavros/mag_calibration
/mavros/manual_control
/mavros/mission
/mavros/mocap
/mavros/mount_control
/mavros/nav_controller_output
/mavros/obstacle
/mavros/odometry
/mavros/onboard_computer
/mavros/param
/mavros/play_tune
/mavros/px4flow
/mavros/rallypoint
/mavros/rangefinder
/mavros/rc
/mavros/setpoint_accel
/mavros/setpoint_attitude
/mavros/setpoint_position
/mavros/setpoint_raw
/mavros/setpoint_trajectory
/mavros/setpoint_velocity
/mavros/sys
/mavros/tdr_radio
/mavros/terrain
/mavros/time
/mavros/trajectory
/mavros/tunnel
/mavros/vfr_hud
/mavros/vibration
/mavros/vision_pose
/mavros/vision_speed
/mavros/wheel_odometry
/mavros/wind
/mavros_node
/mavros_router
/transform_listener_impl_aaab0fa03cd8

 

 

 

4. topic list

quad@orin-nano:~$ ros2 topic list
/diagnostics
/mavros/actuator_control
/mavros/adsb/send
/mavros/adsb/vehicle
/mavros/altitude
/mavros/battery
/mavros/cam_imu_sync/cam_imu_stamp
/mavros/camera/image_captured
/mavros/cellular_status/status
/mavros/companion_process/status
/mavros/debug_value/debug
/mavros/debug_value/debug_float_array
/mavros/debug_value/debug_vector
/mavros/debug_value/named_value_float
/mavros/debug_value/named_value_int
/mavros/debug_value/send
/mavros/esc_status/info
/mavros/esc_status/status
/mavros/esc_telemetry/telemetry
/mavros/estimator_status
/mavros/extended_state
/mavros/fake_gps/mocap/tf
/mavros/geofence/fences
/mavros/global_position/compass_hdg
/mavros/global_position/global
/mavros/global_position/gp_lp_offset
/mavros/global_position/gp_origin
/mavros/global_position/local
/mavros/global_position/raw/fix
/mavros/global_position/raw/gps_vel
/mavros/global_position/raw/satellites
/mavros/global_position/rel_alt
/mavros/global_position/set_gp_origin
/mavros/gps_input/gps_input
/mavros/gps_rtk/rtk_baseline
/mavros/gps_rtk/send_rtcm
/mavros/gpsstatus/gps1/raw
/mavros/gpsstatus/gps1/rtk
/mavros/gpsstatus/gps2/raw
/mavros/gpsstatus/gps2/rtk
/mavros/hil/actuator_controls
/mavros/hil/controls
/mavros/hil/gps
/mavros/hil/imu_ned
/mavros/hil/optical_flow
/mavros/hil/rc_inputs
/mavros/hil/state
/mavros/home_position/home
/mavros/home_position/set
/mavros/imu/data
/mavros/imu/data_raw
/mavros/imu/diff_pressure
/mavros/imu/mag
/mavros/imu/static_pressure
/mavros/imu/temperature_baro
/mavros/imu/temperature_imu
/mavros/landing_target/lt_marker
/mavros/landing_target/pose
/mavros/landing_target/pose_in
/mavros/local_position/accel
/mavros/local_position/odom
/mavros/local_position/pose
/mavros/local_position/pose_cov
/mavros/local_position/velocity_body
/mavros/local_position/velocity_body_cov
/mavros/local_position/velocity_local
/mavros/log_transfer/raw/log_data
/mavros/log_transfer/raw/log_entry
/mavros/mag_calibration/report
/mavros/mag_calibration/status
/mavros/manual_control/control
/mavros/manual_control/send
/mavros/mission/reached
/mavros/mission/waypoints
/mavros/mocap/pose
/mavros/mocap/tf
/mavros/mount_control/command
/mavros/mount_control/orientation
/mavros/mount_control/status
/mavros/nav_controller_output/output
/mavros/obstacle/send
/mavros/odometry/in
/mavros/odometry/out
/mavros/onboard_computer/status
/mavros/param/event
/mavros/play_tune
/mavros/px4flow/ground_distance
/mavros/px4flow/raw/optical_flow_rad
/mavros/px4flow/raw/send
/mavros/px4flow/temperature
/mavros/radio_status
/mavros/rallypoint/rallypoints
/mavros/rangefinder/rangefinder
/mavros/rc/in
/mavros/rc/out
/mavros/rc/override
/mavros/setpoint_accel/accel
/mavros/setpoint_attitude/cmd_vel
/mavros/setpoint_attitude/thrust
/mavros/setpoint_position/global
/mavros/setpoint_position/global_to_local
/mavros/setpoint_position/local
/mavros/setpoint_raw/attitude
/mavros/setpoint_raw/global
/mavros/setpoint_raw/local
/mavros/setpoint_raw/target_attitude
/mavros/setpoint_raw/target_global
/mavros/setpoint_raw/target_local
/mavros/setpoint_trajectory/desired
/mavros/setpoint_trajectory/local
/mavros/setpoint_velocity/cmd_vel
/mavros/setpoint_velocity/cmd_vel_unstamped
/mavros/state
/mavros/statustext/recv
/mavros/statustext/send
/mavros/target_actuator_control
/mavros/terrain/report
/mavros/time_reference
/mavros/timesync_status
/mavros/trajectory/desired
/mavros/trajectory/generated
/mavros/trajectory/path
/mavros/tunnel/in
/mavros/tunnel/out
/mavros/vfr_hud
/mavros/vibration/raw/vibration
/mavros/vision_pose/pose
/mavros/vision_pose/pose_cov
/mavros/vision_speed/speed_twist
/mavros/vision_speed/speed_twist_cov
/mavros/vision_speed/speed_vector
/mavros/wheel_odometry/odom
/mavros/wind_estimation
/move_base_simple/goal
/parameter_events
/rosout
/tf
/tf_static
/uas1/mavlink_sink
/uas1/mavlink_source