AirPost_Drone

Code and instruction for configuring drone.

H/W Drone Parts

Jetpack 4.2
1. format sd card in windows computer with default settings
2. format sdcard with sd card formatter in the link below
3. download jetpack image and flash
4. https://developer.nvidia.com/embedded/jetpack
useful packages
1. sudo apt update
2. sudo apt upgrade
3. sudo apt install build-essential cmake git vim tmux terminator
4. install jtop
5. vim setting
opencv 3.2
JetsonHacksNano librealsense v2.25.0
1. librealsense v2.25.0 source
apriltag
ROS melodic
1. with catkin_build in catkin_ws_build directory
2. with catkin_make in catkin_ws directory
  1. vision_to_mavros
  2. JetsonHacksNano realsense_ros_v2.2.8
    1. realsense_ros_v2.2.8 source
Python packages
1. pip install cython
2. pip install pymavros
3. pip install pyrealsense
Set Auto reverse ssh tunnel on boot
1. copy scripts/reverse_ssh_continuous.sh to /scripts/ folder
  - mkdir /scripts && sudo cp scripts/reverse_ssh_continuous.sh /scripts
2. run crontab edit with crontab -e and add following commands below
```
* * * * *  /scripts/reverse_ssh_continuous.sh
* * * * * sleep 20; /scripts/reverse_ssh_continuous.sh
* * * * * sleep 40; /scripts/reverse_ssh_continuous.sh
```
  Running the code
git clone this repository
move catkin_ws, catkin_ws_build folder to your home directory.
build ROS packages
1. catkin_make with catkin_ws folder
2. catkin build with catkin_ws_build folder
run the whole code with command
- roslaunch drone_controller all_drone_control.launch

Jetson nano is not reading values properly from pixhawk through ROS.
- Try rosservice call /mavros/set stream rate 0 10 1
Cannot launch file at catkin_ws_build after compiling catkin_make at catkin_ws folder
- this reference would be helpful
Realsense Camera tf error
- It's problem with camera. you should power off and power on the camera
- reference link