Merge github.com:masskro0/px4flow_node_ros2

README.md

@@ -1,8 +1,29 @@
-px-ros-pkg
-----------
+# px-ros-pkg for ROS2
 
-A repository for PIXHAWK open source code running on ROS.
+## Description
+Original code from: <a>http://wiki.ros.org/px4flow_node </a><br><br>
+A repository for PIXHAWK open source code running on ROS. There was no ROS2 implementation of the px4flow_node and the
+official repository seems to be dead. Hence, I ported it to ROS 2.
 
-Notes:
+## Supported Platforms
+Tested on Ubuntu 22.04 with ROS Humble. Other ROS2 distributions and Ubuntu releases <i>might</i> work.
 
-1. The master branch uses catkin. If you wish to use rosbuild, please use the rosbuild branch.
+## Prerequisites:
+- Boost library: ```sudo apt install libboost-dev```
+- Eigen3: ```sudo apt install libeigen3-dev```
+- ROS Humble (or others): <a>https://docs.ros.org/en/humble/Installation.html </a>
+
+## Installation:
+Put the whole folder into your ROS workspace and run<br>
+```colcon build && . install/setup.bash```<br><br>
+Preferably, add this repository as a submodule:<br>
+```git submodule add -b main https://github.com/masskro0/px4flow_node_ros2 src/px4flow_node```
+
+## Usage:
+First, connect your px4flow sensor and then either launch the mavlink_serial_client:<br>
+```ros2 launch mavlink_serial_client mavlink_launch.py```<br><br>
+or the px4flow node:<br>
+```ros2 launch px4flow px4flow_launch.py```
+
+Both nodes use messages from the <b>px_comm</b> folder. Also, you can modify configuration parameters of both nodes
+in <i>drivers/<pkg<pkg>>/config/default.yaml</i>

drivers/mavlink_serial_client/CMakeLists.txt

@@ -18,57 +18,53 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(Boost REQUIRED COMPONENTS thread system)
+find_package(Eigen3 REQUIRED)
 find_package(image_transport REQUIRED)
+find_package(px_comm REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
-find_package(px_comm REQUIRED)
-find_package(Boost REQUIRED COMPONENTS thread system)
-find_package(Eigen3 REQUIRED)
 
 install(
   DIRECTORY include/
   DESTINATION include
 )
 
-###########
-## Build ##
-###########
-
 include_directories(include
   ../../mavlink/include/mavlink/v1.0
   include
   ${EIGEN3_INCLUDE_DIRS}
 )
 
-add_executable(mavlink_serial_client
+add_executable(${PROJECT_NAME}
   src/SerialComm.cc
   src/mavlink_serial_client.cc
 )
 
-ament_target_dependencies(mavlink_serial_client
+ament_target_dependencies(${PROJECT_NAME}
   rclcpp
-  std_msgs
-  sensor_msgs
   image_transport
   px_comm
+  sensor_msgs
+  std_msgs
 )
 
-target_link_libraries(mavlink_serial_client
+target_link_libraries(${PROJECT_NAME}
   Boost::thread
 )
 
-install(TARGETS mavlink_serial_client
-  DESTINATION lib/mavlink_serial_client
+install(TARGETS ${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME}
 )
 
 install(
   DIRECTORY config/
-  DESTINATION share/mavlink_serial_client
+  DESTINATION share/${PROJECT_NAME}
 )
 
 install(
   DIRECTORY launch/
-  DESTINATION share/mavlink_serial_client
+  DESTINATION share/${PROJECT_NAME}
 )
 
-ament_package()
+ament_package()