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README Updates

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cesar 2022-03-04 14:31:54 -04:00
parent 6991767c16
commit 099c1991b0
1 changed files with 13 additions and 22 deletions
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README.md
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@ -106,27 +106,26 @@ Initilize rosdep:
copy (or add) files from px4_launch directory to '~/PX4-Autopilot/launch' copy (or add) files from px4_launch directory to '~/PX4-Autopilot/launch'
### MAVROS ### MAVROS
- in px4.launch, replace: - in px4.launch, replace:
'''
arg name="fcu_url" default="/dev/ttyACM0:57600" arg name="fcu_url" default="/dev/ttyACM0:57600"
arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550" arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550"
'''
- with: - with:
'''
arg name="fcu_url" default="udp://:14551@192.168.1.91:14556" arg name="fcu_url" default="udp://:14551@192.168.1.91:14556"
arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550" arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550"
'''
#### CHANGE DEVEL/SETUP.BASH #### CHANGE DEVEL/SETUP.BASH
In catkin_ws (or any working directory) add to devel/setup.bash: In catkin_ws (or any working directory) add to devel/setup.bash:
'''
CURRENT_DIR=$(pwd) CURRENT_DIR=$(pwd)
cd ~/PX4-Autopilot cd ~/PX4-Autopilot
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd) export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
cd $CURRENT_DIR cd $CURRENT_DIR
'''
## JINJA TETHER FILE ## JINJA TETHER FILE
- spiri_with_tether.sdf.jinja can be altered to create desired tether model - spiri_with_tether.sdf.jinja can be altered to create desired tether model
- changes nede to be made in px4 directory and will only take effect and - changes nede to be made in px4 directory and will only take effect and
@ -136,11 +135,3 @@ In catkin_ws (or any working directory) add to devel/setup.bash:
- number_elements: number of segments tether will be composed of - number_elements: number of segments tether will be composed of
- tl: segment length (should be no shorter than 0.3 meters) - tl: segment length (should be no shorter than 0.3 meters)
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