RGBD camera simulation:

This package spawn the iris drone with RGBD camera and publish the image in the correspondent topics.

1- Edit sdf files to include the camera plugin:

cd /home/abrao/dev/px4_ros2/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris

• Delete iris.sdf file located in the directory above.

• Copy the content of backup_iris.sdf.jinja and replace in iris.sdf.jinja file located in the directory above. The file backup_iris.sdf.jinja can be found at: /px4_ros2_xrcedds/my_package/models/iris

2- Terminal 1: Make PX4 and roslaunch the gazebo simulation:

cd ~/dev/px4_ros2/PX4-Autopilot
DONT_RUN=1 make px4_sitl_default gazebo-classic_iris 
source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/simulation/gazebo-classic/sitl_gazebo-classic
roslaunch px4 posix_sitl.launch

3- Terminal 2:

MicroXRCEAgent udp4 -p 8888

4- Terminal 3:

• First time: Install ros1 bridge

sudo apt update
sudo apt upgrade
sudo apt install ros-foxy-ros1-bridge

• Run ros1 bridge:

source /opt/ros/foxy/setup.bash
ros2 run ros1_bridge dynamic_bridge

ps: Use the command bellow to bridge all the topics, including some we does not need.

ros2 run ros1_bridge dynamic_bridge –bridge-all-topics

5- Terminal 4: Run the offboard control example:

cd ~/dev/px4_ros2/ros_packages
source /opt/ros/foxy/setup.bash
colcon build
source install/local_setup.bash
ros2 launch px4_offboard offboard_position_control.launch.py

6- (OPTIONAL) Terminal 5: to check rgbd camera topics

• ROS1

rostopic list

• ROS2

source /opt/ros/foxy/setup.bash
ros2 topic list 

• Only the topics we are subscribing in the step 5 is visible in ROS2. If necessary:

source /opt/ros/foxy/setup.bash
ros2 topic echo /camera/color/image_raw sensor_msgs/msg/Image 

my_package

This ROS2 package spawn the iris drone with RGBD camera and publish the image in the correspondent topics.

TODO: to run the PX4 in the ROS2 launch file

cd ~/dev/px4_ros2/ros_packages
source /opt/ros/foxy/setup.bash
colcon build
source install/local_setup.bash
ros2 launch my_package spawn_camera.launch.py

px4_offboard

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