arthurrichards77
commented
2 years ago Some progress on this, plus #88 and #90. Turns out PX4 already ships with a version of Iris with an FPV cam ready to publish to ROS. The launch file in the zip gets an Iris running in the basic Fenswood scenery with a camera image accessible through ROS.
Key steps:
- Put the ground plane back into the world file, as my drone was just falling through the grass. Original error was that I'd not changed the
collisionelements of the box when making the grass panels, but for some reason that's not updating. - Followed these instructions and then wrote my own custom ROS launch file to run the whole show from ROS.
- Grabbed the Iris model with the cam straight from the SDF file in the directory. Can't get it to work by choosing it through the vehicle arg.
- Ensured that the launch file sets the Gazebo model path to pick up my grass panels.
- Overriding the world in the launch file to use my Fenswood world. (Note: paths hardcoded for now as I've not dressed this up in a ROS package. It's all ROS 1 anyway.
After all that I couldn't fly the thing or connect a ground station! Just need to learn the ROS interface maybe - but the service callers all got failure responses when I tried to fly.
rob-clarke
mhl787156
Add a special docker compose file that launches a single Iris with camera (#88) at Fenswood farm (#89) with a basic scenic representation of the surroundings (#90).
Docker compose only please, as I’d like this to work on Windows. Please avoid kubernetes.