basic_mission_pixhawk_gazebo

In order to execute the mission, perform the following steps:

• Execute the script that compiles px4_autopilot and launches Gazebo for this project:

    $ ./launcher_gazebo.sh
  

• Wait until the following window is presented:

• Execute the script that launches the Aerostack components for this project using df motion control:

    $ ./df_main_launcher.sh
  

  or using pid motion control instead:

    $ ./pid_main_launcher.sh
  

  As a result of this command, a set of windows are presented to monitor the execution of the mission. These windows include:

  • Alphanumeric behavior viewer
  • Keyboard Teleoperation

  You can navigate the windows using tmux commands:

  • Press Ctrl-b and release, the use the special keys, such as:
    • "n" : go to the next window.
    • "Up"/"Down" : go to the upper/lower window if divided.
    • *any number such as "1" : go to the desired terminal number.

  In order to stop executing all tmux windows, press Ctrl-c and execute

    $ ./stop.sh
  

• Execute the following command to run the mission:

    $ rosservice call /drone1/python_based_mission_interpreter_process/start
  

The following video illustrates how to launch and execute the project: