PX4 SITL mavros and gazebo

• Reference
• 404warehouse

Setup and run

• Terminal 1 Setting environment

cd <Firmware_clone>
make posix_sitl_default gazebo

source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/posix_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo

• Terminal 1 (launch gazebo and SITL)

roslaunch px4 posix_sitl.launch

• Terminal 2 (launch mavros)

roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557"

• Terminal 3 (mavros commands: call services)

rosservice call /mavros/set_mode "base_mode: 0
custom_mode: 'OFFBOARD'" 

rosservice call /mavros/cmd/arming "value: true" 

rosservice call /mavros/cmd/takeoff "{min_pitch: 0.0, yaw: 0.0, latitude: 0.0, longitude: 0.0, altitude: 10.0}"