Installing/setting up ROS

You will need to install ROS on both the onboard computer and base station laptop. Check out the Official ROS Installation page for details on how to do this.

Currently only the long-term support ROS kinetic release is supported, with the recommended operating system being Ubuntu 16.04. If storage is limited on your onboard computer, you can install the bare-bones ROS package (ros-kinetic-ros-base) instead of the full desktop version.

Installing rosflight

You will need to install the rosflight packages on both your onboard computer and your base station computer. The onboard computer will run the node that actually communicates with the flight controller over the serial connection, while the base station needs the message and service definitions to be able to subscribe and publish to topics or call services.

From the apt repository

The recommended installation method for Ubuntu or Debian systems is to use the rosflight packages in the official ROS apt repositories. If you have configured your system to use these packages as described in the ROS installation guide, you can install rosflight using

sudo apt-get install ros-kinetic-rosflight-pkgs

From source

If you prefer, or if you are unable to use the apt packages (e.g. for 64-bit ARM running on an NVIDA TX1/TX2), you can install the rosflight repositories from source instead. You will need a catkin workspace set up. If you haven't already done this, you can create a new workspace with something like the following commands:

source /opt/ros/indigo/setup.bash

cd
mkdir -p catkin_ws/src
cd catkin_ws/src
catkin_init_workspace
cd ..
catkin_make

source ~/catkin_ws/devel/setup.bash

Note

In order to ensure that ROS uses this workspace, you can add the last line (source ~/catkin_ws/devel/setup.bash) to your ~/.bashrc file or its equivalent on other systems.

Next download the source code into your workspace

cd ~/catkin_ws/src
git clone https://github.com/rosflight/rosflight.git
pull down the submodules (there is a triple-layer submodule setup in the rosflight metapackage, so you have to remember the --recursive argument)
cd rosflight
git submodule --init --recursive
install dependencies,
rosdep install --ignore-src rosflight
cd ~/catkin_ws/src
rosdep install --ignore-src --from-path rosflight
then build the packages.
cd ~/catkin_ws
catkin_make

Running rosflight_io

The rosflight_io node is the bridge between ROS and the MAVLink communication with the flight controller. This node must be run on the computer that has the physical serial connection to your flight controller. To run this node, use something like the following command (after starting a roscore):

rosrun rosflight rosflight_io _port:=/dev/ttyACM0
Replace /dev/ttyACM0 with the port your flight controller is connected to. The rosflight_io node could also be started from within a launch file with something like
<node pkg="rosflight" type="rosflight_io" name="rosflight_io" output="screen">
  <param name="port" value="/dev/ttyACM0"/>
</node>

Tip

The optional (but recommended) output="screen" option ensures that status messages from rosflight_io will be forwarded to the console from which you call roslaunch.

For details on all parameters, topics, and services related to the rosflight_io node, refer to the documentation on the ROS wiki.

Jetson TX2

It is likely that your flip32/naze32 board doesn't work correctly out of the box with the TX2. To fix this you need to build some driverse in with the kernel. This process is pretty straight-forward.

To build the kernel with additional USB drivers, follow the instructions and video found here. This video shows the ACM module being added, however there are a few additional drivers you will likely require. These include: - USB Winchiphead CH341 Single Port Serial Driver - USB Modem (CDC ACM) support - USB CP210x family of UART Bridge Controllers

After following the instructions to add these drivers, reboot your TX2 and your USB devices should show up in /dev/ttyUSB? or /dev/ttyACM? as you would expect.