Reference:- https://github.com/deepak-1530/FastPlannerOctomap
All folder(workspaces) are in /home directory
-
PX4-Autopilot
Contain PX4-Gazebo-Sitl -
catkin_ws
Conatin mavros -
fastplanner_ws
Conatain mapping, planning and controller
cd PX4-Autopilot/
source ~/catkin_ws/devel/setup.zsh
source ~/fastplanner_ws/devel/setup.zsh
source Tools/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/sitl_gazebo
roslaunch px4 mavros_posix_sitl.launchIn same terminal type
commander takeoffIt will launch Gazebo, World, Mavros, PX4, Quadcopter(iris_depth_camera).
You can choose world from PX4-Autopilot/Tools/sitl_gazebo/worlds
Choose quadcopter from PX4-Autopilot/Tools/sitl_gazebo/models
Make changes into mavros_posix_sitl.launch\
cd PX4-Autopilot/
source ~/catkin_ws/devel/setup.zsh
source ~/fastplanner_ws/devel/setup.zsh
source Tools/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/sitl_gazebo
roslaunch FastPlannerOctomap MappingSim.launchGive goal location using 2D Nav Goal option in rviz
cd PX4-Autopilot/
source ~/catkin_ws/devel/setup.zsh
source ~/fastplanner_ws/devel/setup.zsh
source Tools/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/sitl_gazebo
rosrun FastPlannerOctomap PlannerFor the startOver option select either 1 or 0.
Also give the height (in metres) of the goal location when prompted.\
cd PX4-Autopilot/
source ~/catkin_ws/devel/setup.zsh
source ~/fastplanner_ws/devel/setup.zsh
source Tools/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/sitl_gazebo
rosrun FastPlannerOctomap Controller
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