Boot up QGC on the ThinkPad and make sure you have a good connection to the drone.
Start MAVROS:
ros2 launch mavros px4.launch fcu_url:=/dev/ttyACM0:921600
If this isn't working with an error message like serial open permission denied, you need to run this setup step: sudo chmod 666 /dev/ttyACM0
At this point it would be a good idea to make sure all is good with MAVROS topics; poke around a bit with
ros2 topic list
ros2 topic echo /mavros/state # etc
Launch the demo (for now) imaging node.
(ARC Upper field)
cd ~/ws && colcon build --merge-install && source install/setup.bash
ros2 run libuavf_2024 mock_imaging_node.py ~/ws/src/libuavf_2024/uavf_2024/gnc/data/ARC/UPPER_FIELD_DROPZONE 12 9
(ARC Club field)
cd ~/ws && colcon build --merge-install && source install/setup.bash
ros2 run libuavf_2024 mock_imaging_node.py ~/ws/src/libuavf_2024/uavf_2024/gnc/data/ARC/CLUB_FIELD/AIRDROP_BOUNDARY 12 9
Launch the commander node. There are a few relevant flags that one might want to use for testing
--exit-early: Exits after pushing first waypoint mission--servo-test: Don't do anything mission-related, just actuate the servo and quit.--call-imaging(and its optional partner--call-imaging-period): Don't do anything mission related, just call the imaging service, convert the coord to GPS, and print.
(ARC Upper field)
cd ~/ws && colcon build --merge-install && source install/setup.bash
ros2 run libuavf_2024 demo_commander_node.py ~/ws/src/libuavf_2024/uavf_2024/gnc/data/upper_field.gpx ~/ws/src/libuavf_2024/uavf_2024/gnc/data/PAYLOAD_LIST 12 9
(ARC Club field)
cd ~/ws && colcon build --merge-install && source install/setup.bash
ros2 run libuavf_2024 demo_commander_node.py ~/ws/src/libuavf_2024/uavf_2024/gnc/data/club_field.gpx ~/ws/src/libuavf_2024/uavf_2024/gnc/data/PAYLOAD_LIST 12 9