Custom

Even if you are using a custom drone, it is best to first install all required packages per the Quickstart instructions. Once complete, next do the following 4 steps to configure the software for your custom drone.

1. Config

   For custom drone setup, the first step is to create a vehicle config file with all your sensors as described here.

2. Sensors

   If you're adding a new sensor, you need to add a launch file in vehicle_launch/launch/sensors. This can simply launch another package's launch file, but it must match the name scheme in the config file you just created.

3. Launch

   Test that your new config is launching as expected with:

   ros2 launch vehicle_launch opendrone.launch.py config_file:=myconfig.yaml

   If this works, update the systemd service in the next step so your config is the system default.

4. Systemd

   The quickstart instructions set up a systemd service so the ROS nodes start on boot. Update the script to use your config file as a launch arg:

   cd ~/src/open-drone-core
   nano run_drone.sh
   

   Change the script on the config_file line:

   #!/bin/bash
   
   source /opt/ros/humble/setup.bash
   source /home/$USER/src/open-drone-core/install/setup.bash
   source /home/$USER/src/livox_ros_driver2/install/setup.bash
   
   # Get UTC date for logging
   date=$(date -u '+%Y-%m-%d_%H-%M-%S')
   data_directory=/home/$USER/r88_public/records/$date/
   mkdir -p $data_directory
   
   stdbuf -oL ros2 launch vehicle_launch opendrone.launch.py \
       config_file:=myconfig.yaml \ # <------ change this to your config 
       data_directory:=$data_directory $@ 2>&1 | tee $data_directory/distal_stdout_$date.log
   

   Restart the service for the change to take effect:

   sudo systemctl restart drone.service
   

That's it!

If you've already set up the frontend on a machine that's on the same network as your vehicle, you should now be able to connect here.