Added a tutorial #8
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Hello! Just curious if this has been tried with multiple agents? Thanks |
Hi @jaypatrikar -- no I haven't tried it yet |
Jaeyoung-Lim
requested changes
Jan 13, 2023
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@Jaeyoung-Lim binary images is good, why you don't like it? |
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@mengchaoheng It is not good practice to have large binaries in trees since it increases the size of the repository. Also having screenshots of a terminal as a image does not provide more information compared to text |
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All right. Can you fix it? @stevehenderson |
Yes, no problem! |
Yes, no problem! |
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@stevehenderson Any updates? |
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Hi @Jaeyoung-Lim I just pushed a new commit with the requested modifications. |
Jaeyoung-Lim
requested changes
Apr 1, 2023
doc/ROS2_PX4_Offboard_Tutorial.md
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| ### Prerequisites | ||
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| * [ROS2 Installed](https://docs.px4.io/main/en/ros/ros2_comm.html#install-ros-2), and setup for your operating system (e.g. [Linux Ubuntu](https://docs.px4.io/main/en/dev_setup/dev_env_linux_ubuntu.html)) with Gazebo | ||
| * [FastDDS Installed](https://docs.px4.io/main/en/dev_setup/fast-dds-installation.html) |
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Updated. It doesnt seem fastdds is in the current px4 branch, so I linked to the last supported version.
doc/ROS2_PX4_Offboard_Tutorial.md
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| ### Example System Details | ||
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| * Ubuntu 22.02 |
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| * Ubuntu 22.02 | |
| * Ubuntu 22.04 |
doc/ROS2_PX4_Offboard_Tutorial.md
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| * [PX4-Autopilot downloaded](https://docs.px4.io/main/en/dev_setup/building_px4.html) | ||
| * [QGroundControl installed](https://docs.qgroundcontrol.com/master/en/getting_started/download_and_install.html) | ||
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| ### Example System Details |
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This should be part of the Prerequisites
doc/ROS2_PX4_Offboard_Tutorial.md
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| cd ~ | ||
| mkdir px4_ros_com_ws | ||
| cd px4_ros_com_ws | ||
| git clone https://github.com/PX4/px4_ros_com.git |
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We don't need px4_ros_com for this package to work
doc/ROS2_PX4_Offboard_Tutorial.md
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| ``` | ||
| cd ~ | ||
| mkdir px4_ros_com_ws | ||
| cd px4_ros_com_ws |
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| cd px4_ros_com_ws | |
| cd <colcon_workspace_path> |
doc/ROS2_PX4_Offboard_Tutorial.md
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| ``` | ||
| Starting >>> px4_msgs | ||
| Finished <<< px4_msgs [6.42s] | ||
| Starting >>> px4_ros_com | ||
| Finished <<< px4_ros_com [0.13s] | ||
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| Summary: 2 packages finished [6.71s] | ||
| ``` | ||
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| You may see some warnings interspered with the output. As long as there are no __*errors*__ you should be OK.. |
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| ``` | |
| Starting >>> px4_msgs | |
| Finished <<< px4_msgs [6.42s] | |
| Starting >>> px4_ros_com | |
| Finished <<< px4_ros_com [0.13s] | |
| Summary: 2 packages finished [6.71s] | |
| ``` | |
| You may see some warnings interspered with the output. As long as there are no __*errors*__ you should be OK.. |
doc/ROS2_PX4_Offboard_Tutorial.md
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| #### Building the micro_ros_agent | ||
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| From: [Building micro-ROS-Agent](https://github.com/micro-ROS/micro_ros_setup#building-micro-ros-agent) | ||
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| ``` | ||
| cd ~ | ||
| mkdir ~/microros_ws | ||
| cd microros_ws | ||
| git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git | ||
| mkdir src | ||
| mv micro_ros_setup/ src/ | ||
| ``` | ||
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| *Note how the `ROS_DISTRO` environment variable is used to specify the correct branch... | ||
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| Now build | ||
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| ``` | ||
| colcon build | ||
| source install/local_setup.sh | ||
| ros2 run micro_ros_setup create_agent_ws.sh | ||
| ros2 run micro_ros_setup build_agent.sh | ||
| ``` | ||
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| This should build and may flash a few warnings: | ||
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| ``` | ||
| colcon build | ||
| [0.584s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/analyst/microros_ws/install/micro_ros_setup' in the environment variable AMENT_PREFIX_PATH doesn't exist | ||
| [0.584s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/analyst/microros_ws/install/micro_ros_agent' in the environment variable AMENT_PREFIX_PATH doesn't exist | ||
| [0.584s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/analyst/microros_ws/install/micro_ros_msgs' in the environment variable AMENT_PREFIX_PATH doesn't exist | ||
| [0.585s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/analyst/microros_ws/install/micro_ros_setup' in the environment variable CMAKE_PREFIX_PATH doesn't exist | ||
| [0.585s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/analyst/microros_ws/install/micro_ros_agent' in the environment variable CMAKE_PREFIX_PATH doesn't exist | ||
| [0.585s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/analyst/microros_ws/install/micro_ros_msgs' in the environment variable CMAKE_PREFIX_PATH doesn't exist | ||
| Starting >>> micro_ros_setup | ||
| Finished <<< micro_ros_setup [1.52s] | ||
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| Summary: 1 package finished [1.80s] | ||
| analyst@casa:~/microros_ws$ source install/local_setup.sh | ||
| analyst@casa:~/microros_ws$ ros2 run micro_ros_setup create_agent_ws.sh | ||
| .. | ||
| === ./uros/micro-ROS-Agent (git) === | ||
| Cloning into '.'... | ||
| === ./uros/micro_ros_msgs (git) === | ||
| Cloning into '.'... | ||
| #All required rosdeps installed successfully | ||
| analyst@casa:~/microros_ws$ ros2 run micro_ros_setup build_agent.sh | ||
| Building micro-ROS Agent | ||
| [0.593s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/analyst/microros_ws/install/micro_ros_agent' in the environment variable AMENT_PREFIX_PATH doesn't exist | ||
| [0.593s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/analyst/microros_ws/install/micro_ros_msgs' in the environment variable AMENT_PREFIX_PATH doesn't exist | ||
| [0.593s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/analyst/microros_ws/install/micro_ros_agent' in the environment variable CMAKE_PREFIX_PATH doesn't exist | ||
| [0.593s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/analyst/microros_ws/install/micro_ros_msgs' in the environment variable CMAKE_PREFIX_PATH doesn't exist | ||
| Starting >>> micro_ros_msgs | ||
| Finished <<< micro_ros_msgs [5.51s] | ||
| Starting >>> micro_ros_agent | ||
| --- stderr: micro_ros_agent | ||
| Cloning into 'xrceagent'... | ||
| Switched to a new branch 'ros2' | ||
| HEAD is now at 3eb56b5 Release v2.3.0 | ||
| CMake Warning (dev) at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:438 (message): | ||
| The package name passed to `find_package_handle_standard_args` (tinyxml2) | ||
| does not match the name of the calling package (TinyXML2). This can lead | ||
| to problems in calling code that expects `find_package` result variables | ||
| (e.g., `_FOUND`) to follow a certain pattern. | ||
| Call Stack (most recent call first): | ||
| cmake/modules/FindTinyXML2.cmake:40 (find_package_handle_standard_args) | ||
| /opt/ros/humble/share/fastrtps/cmake/fastrtps-config.cmake:51 (find_package) | ||
| CMakeLists.txt:153 (find_package) | ||
| This warning is for project developers. Use -Wno-dev to suppress it. | ||
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| --- | ||
| Finished <<< micro_ros_agent [23.2s] | ||
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| Summary: 2 packages finished [29.0s] | ||
| 1 package had stderr output: micro_ros_agent | ||
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| ``` | ||
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| Try running the agent: | ||
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| ``` | ||
| source install/local_setup.sh | ||
| ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 | ||
| ``` | ||
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| It should respond with: | ||
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| ``` | ||
| [1670101284.566587] info | UDPv4AgentLinux.cpp | init | running... | port: 8888 | ||
| [1670101284.566822] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4 | ||
| ``` |
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Could we just link the instruction to an external link? building a micro-ros-agent is not really related to this package
| ``` | ||
| cd ~/microros_ws | ||
| export ROS_DOMAIN_ID=0 | ||
| export PYTHONOPTIMIZE=1 |
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Yes. As a newbie, I struggled for hours before I realized that my ROS_DOMAIN_ID had to be consistent across the 3 processes. PYTHONOPTIMIZE is required in my environment for GAZEBO to work.
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Do you know why PYTHONOPTIMIZE is required? what environment are you on?
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My environment:
* Ubuntu 22.04
* ROS2 Humble
* Python 3.10
When I ran through this the first time, months ago, I got this error:
After several hours, I found the solution here
Jaeyoung-Lim
approved these changes
Apr 2, 2023
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I added a step by step tutorial for this excellent repo.
Thank you @mengchaoheng for all the tips in #3