Software Setup for Agipix
Prerequisit for this setup is setting up the Docker)
Setup PX4 interface software stack
This step is tested for the stable Branch 1.16.1 (stable)
mkdir -r ~/workspace/agipix_control/src
cd ~/workspace/agipix_control/src
# clone the px4 msgs and manually sync with the Autopilot version
git clone https://github.com/PX4/px4_msgs.git
git clone https://github.com/PX4/PX4-Autopilot.git -b v1.16.1
# Sync
rm -f px4_msgs/msg/*.msg
rm -f px4_msgs/srv/*.srv
cp PX4-Autopilot/msg/*.msg px4_msgs/msg/
cp PX4-Autopilot/srv/*.srv px4_msgs/srv/
cp PX4-Autopilot/msg/versioned/*.msg px4_msgs/msg/
touch px4_version_synced_v1_16_1
rm -rf PX4-Autopilot # optionally remove
# clone the interface lib
git clone https://github.com/Auterion/px4-ros2-interface-lib -b release/1.16
Verify versions
## to verify compatibility
cd ~/workspace/agipix_control/src/px4-ros2-interface-lib
./scripts/check-message-compatibility.py -v path/to/px4_msgs/ path/to/PX4-Autopilot/
build
agidocker
# *** Inside agidocker
cd /workspaces/agipix_control
colcon build --packages-select px4_msgs
colcon build --packages-select px4_ros2_cpp
Install Agi-Logger
cd ~/workspace/logging/src
git clone https://github.com/SasaKuruppuarachchi/agi_logger.git
agidocker
# *** Inside agidocker
cd /workspaces/logging/src/agi_logger
pip install -e .
Sim setup
See Instructions to continue.
Agipix Autonomy stack setup
Now we are ready for autonomy setup. See Instructions to continue.