dbaldwin

https://answers.ros.org/question/251691/coordinate-system-in-ros/
https://docs.px4.io/main/en/ros2/user_guide#compatibility-issues

ros2 run tf2_ros static_transform_publisher 0.5 0 0 1.57 0 0 world 90_around_x

ros2 run tf2_ros static_transform_publisher 1 0 0 1.57 0 3.14 world world_ned

dbaldwin

# From ~/Videos/Screencasts

docker run -v $(pwd):/config linuxserver/ffmpeg -i /config/mavlink_shell.webm -c:v libx264 -c:a aac -vf "pad=ceil(iw/2)*2:ceil(ih/2)*2" /config/mavlink_shell.mp4

dbaldwin

# Here we import our own MQTT library which takes care of a lot of boilerplate
# code related to connecting to the MQTT server and sending/receiving messages.
# It also helps us make sure that our code is sending the proper payload on a topic
# and is receiving the proper payload as well.
from bell.avr.mqtt.client import MQTTModule
from bell.avr.mqtt.payloads import (
    AvrFcmVelocityPayload,
    AvrApriltagsRawPayload
)

dbaldwin

# On Raspberry Pi to Windows PC running MAVSDK server
sudo mavproxy.py --master=/dev/serial0 --baudrate 57600 --out 192.168.86.29:14550

# On RPi4 with telemetry cable
 mavproxy.py --master=/dev/ttyAMA0 --baudrate 57600 --out 192.168.11.116:14550

# On Windows PC
 .\mavsdk_server_win32.exe udp://:14550
 
# Modified from MAVSDK script

dbaldwin

debian@beaglebone:~$ dmesg
[    0.000000] Booting Linux on physical CPU 0x0
[    0.000000] Linux version 4.19.94-ti-r42 (voodoo@x3-am57xx-beagle-x15-2gb) (gcc version 8.3.0 (Debian 8.3.0-6)) #1buster SMP PREEMPT Tue Mar 31 19:38:29 UTC 2020
[    0.000000] CPU: ARMv7 Processor [413fc082] revision 2 (ARMv7), cr=10c5387d
[    0.000000] CPU: PIPT / VIPT nonaliasing data cache, VIPT aliasing instruction cache
[    0.000000] OF: fdt: Machine model: TI AM335x BeagleBone Blue
[    0.000000] Memory policy: Data cache writeback
[    0.000000] cma: Reserved 48 MiB at 0x9c800000
[    0.000000] On node 0 totalpages: 130560
[    0.000000]   Normal zone: 1148 pages used for memmap

dbaldwin

# Run the following on Pi Zero attached to Pixhawk 4 Mini via USB
# Sends to windows desktop
./mavp2p serial:/dev/ttyACM0:57600 udpc:192.168.86.32:14550

# Pi Zero m2r with Pixhawk 4 Mini connected via USB
mavlink2rest -c serial:/dev/ttyACM0:57600

# Connected over UART
./mavp2p serial:/dev/serial0:921600 udpc:192.168.86.32:14550

dbaldwin

#!/usr/bin/python

import sys
import time
import math
import numpy as np

sys.path.append('../lib/python/amd64')
import robot_interface as sdk

dbaldwin

fcm_1        | 2023-03-22 18:58:03.637 | ERROR    | __main__:action_dispatcher:180 - ERROR IN MAIN LOOP
fcm_1        | Traceback (most recent call last):
fcm_1        | 
fcm_1        |   File "/app/fcc_control.py", line 443, in <module>
fcm_1        |     asyncio.run(control.run())
fcm_1        |     │       │   │       └ <function ControlManager.run at 0x7f8253cb80>
fcm_1        |     │       │   └ <__main__.ControlManager object at 0x7f825937c0>
fcm_1        |     │       └ <function run at 0x7f847c4ee0>
fcm_1        |     └ <module 'asyncio' from '/usr/local/lib/python3.9/asyncio/__init__.py'>
fcm_1        | 

dbaldwin

# Launch AVR Sim
root@ubuntu:~/AVR-2022/VMC# ./start.py -s -l run simulator mqtt fcm web

# Publish to FCM topic on MQTT Broker
avr/fcm/actions

# Absolute
{"action":"upload_mission","payload":{"waypoints":[{"type":"takeoff", "lat": 32.8085506, "lon": -97.1563441, "alt": 3},{"type":"goto","lat":32.8085769115908,"lon":-97.15634413537362,"alt":2},{"type":"goto","lat":32.808576911586705,"lon":-97.15631207121733,"alt":2},{"type":"goto","lat":32.80854996212819,"lon":-97.15631207121733,"alt":2},{"type":"goto","lat":32.80854996212411,"lon":-97.15634413536391,"alt":2},{"type":"land", "lat":32.80854996212411,"lon":-97.15634413536391, "alt": 0}]}}

# Relative

dbaldwin

import { connect } from 'net'
import { MavLinkPacketSplitter, MavLinkPacketParser, common, minimal, send, MavLinkProtocolV2 } from 'node-mavlink'

const REGISTRY = {
    ...minimal.REGISTRY,
    ...common.REGISTRY,
};

let port;
async function main() {