Commit 75cceb33 authored by Lorenz Meier's avatar Lorenz Meier
Browse files

Update README.md

Updated / completed examples.
parent 1b6eceeb
......@@ -10,7 +10,7 @@ ROS API documentation moved to [wiki.ros.org][wiki].
Features
--------
- Communication with autopilot via serial port, UDP or TCP (e.g. [ArduPilot][apm])
- Communication with autopilot via serial port, UDP or TCP (e.g. [PX4 Pro][px4] or [ArduPilot][apm])
- Internal proxy for Ground Control Station (serial, UDP, TCP)
- [mavlink\_ros][mlros] compatible ROS topics (Mavlink.msg)
- Plugin system for ROS-MAVLink translation
......@@ -74,37 +74,34 @@ Programs
Main node. Allow disable GCS proxy by setting empty URL.
Run example:
rosrun mavros mavros_node _fcu_url:=/dev/ttyACM0:115200 _gcs_url:=tcp-l://
Run example (autopilot connected via USB at 921600 baud, GCS running on the host with IP 172.16.254.1):
rosrun mavros mavros_node _fcu_url:=/dev/ttyACM0:921600 _gcs_url:=udp://@172.16.254.1
### gcs\_bridge -- additional proxy
Allows you to add a channel for GCS.
For example if you need to connect one GCS for HIL and the second on the tablet.
Previous name: `ros_udp`.
Example (SITL & QGroundControl):
Example (HIL & DroidPlanner):
rosrun mavros mavros_node _gcs_url:='udp://:14556@172.16.254.129:14551' &
rosrun mavros gcs_bridge _gcs_url:='udp://@172.16.254.129'
rosrun mavros mavros_node _gcs_url:='udp://:14556@hil-host:14551' &
rosrun mavros gcs_bridge _gcs_url:='udp://@nexus7'
<!-- scripts moved to ROS wiki -->
Launch Files
------------
Launch files are provided for use with common FCUs:
Launch files are provided for use with common FCUs, in particular [Pixhawk](pixhawk):
* [px4.launch](launch/px4.launch) -- for use with the PX4 native flight stack
* [px4.launch](launch/px4.launch) -- for use with the PX4 Pro flight stack (for VTOL, multicopters and planes)
* [apm.launch](launch/apm.launch) -- for use with APM flight stacks (e.g., all versions of ArduPlane, ArduCopter, etc)
Examples:
roslaunch mavros px4.launch
roslaunch mavros px4.launch
roslaunch mavros apm.launch fcu_url:=tcp://localhost gcs_url:=udp://@
......@@ -194,6 +191,7 @@ Links
- [MAVLink][ml] -- communication protocol
- [mavlink\_ros][mlros] -- original ROS node (few messages, no proxy)
- [PX4][px4] -- Reference implementation in the academic community
- [ArduPilot][apm] -- tested autopilot APM:Plane (default command set)
- [QGroundControl][qgc] -- tested ground control station for linux
- [DroidPlanner][dp] -- tested GCS for Android
......@@ -201,11 +199,12 @@ Links
[qgc]: http://qgroundcontrol.org/
[pixhawk]: http://pixhawk.org/
[px4]: http://px4.io/
[apm]: http://ardupilot.com/
[mlros]: https://github.com/mavlink/mavlink_ros
[boost]: http://www.boost.org/
[ml]: http://mavlink.org/mavlink/start
[dp]: https://github.com/arthurbenemann/droidplanner/
[mlgbp]: https://github.com/mavlink/mavlink-gbp-release
[iss35]: https://github.com/mavlink/mavros/issues/35
[iss49]: https://github.com/mavlink/mavros/issues/49
......
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