Ardupilot and MAVROS

Install MAVROS

sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras

• GCS — Ground Control Station
• FCU — Flight Control Unit (pixhawk)
• OBC — OnBoard Computer (your odroid or raspberry)

Run SITL and ROS

Terminal 1 (sitl)

sim_vehicle.py -v ArduCopter --console

Terminal 2 (launch)

udp://[bind_host][:port]@[remote_host[:port]][/?ids=sysid,compid]

roslaunch mavros apm.launch fcu_url:=udp://127.0.0.1:14551@14555

rqt (Terminal 3)

Use GUI to control (call service, monitor and pub topics)

rqt

• plugins -> robots tools -> runtime monitor

Set mode

• plugins -> Services -> Service Caller
• from service combo select /mavros/set_mode

Reference

• mavros
• ROS with SITL