Video Walkthrough

Watch the video on YouTube

Prerequisites

• Ubuntu 22.04
• ROS2 Humble
• Gazebo Harmonic
• Micro XRCE-DDS Agent
• QGroundControl Daily Build
• OpenCV 4.10.0

Setup the Workspace

Make sure you source ROS2 Humble in the terminal you are using. You can add this line to your ~/.bashrc if you want it sourced every time you open a new terminal.

source /opt/ros/humble/setup.bash

Navigate to the directory you would like to place the worskpace and then run the following

git clone --recurse-submodules https://github.com/ARK-Electronics/tracktor-beam.git

Then navigate into the workspace:

cd tracktor-beam

Install OpenCV from source

./install_opencv.sh 

Set the GZ_VERSION environment variable

export GZ_VERSION=harmonic

Build the workspace

colcon build

After this runs, we do not need to build the whole workspace again, you can just build the individual packages you have modified

colcon build --packages-select precision_land

Source the workspace

source install/setup.bash 

Run the example

Run the simulation environment

This workspace is tested against a specific version of PX4. Please use PX4 commit 86f2fdfd7de7f5e5d29ab61f60d81e892a557376.

Launch PX4 Simulation

make px4_sitl gz_x500_mono_cam_down_aruco

Launch MicroXRCEAgent

MicroXRCEAgent udp4 -p 8888

Launch all of the nodes

ros2 launch precision_land precision_landing_system.launch.py

View the video (/image_proc is the annoted image)

ros2 run rqt_image_view rqt_image_view

Once the nodes are running the Precision Land mode is going to show up in QGC

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Questions

Message Patrik Dominik Pordi on the ARK Electronics / Dronecode Foundation Discord for questions or email me at patrik@arkelectron.com

ARK Electronics Discord

Additional resources

LinuxCheatSheet

ROS2CheatSheet

CMakeBasics

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