Setup Guide¶
The flight stack can be tested with physical hardware or entirely in simulation. For hardware setup, start here. For simulation setup, start here. If you are going to integrate the stack on a custom drone, we recommend starting with simulation setup to verify your configuration, then proceed to Custom.
Prerequisites¶
The machine where the flight stack runs, on drone or in sim on a computer, must be running Ubuntu 22.04. All dependent software including ROS2 will be installed with the setup script. To summarize, we require:
- Ubuntu 22.04
- ROS 2 Humble
colcon
,vcs
,python3-pip
- Git
Info
Future work: upgrade to ROS2 Kilted.
Setup Overview¶
Open drone setup includes cloning the ROS2 workspace, setting up a sim environment, and launching for the first time. If using the frontend, you can proceed to launching your first setpoint mission through the map interface. If you are setting up a physical vehicle of your own, there is additional vehicle config setup.
Vehicle Configs¶
The system is built to automatically launch all perception features enabled by the types of sensors on your vehicle. For that to be possible, you must set up a config file as described here.