https://youtu.be/oWtlBNEIo4w?si=X4ICcP_s4HS9wfZq
1st terminal
cd ~/ws_agent
source install/setup.bash
MicroXRCEAgent udp4 -p 8888
2nd terminal
# 1. ROS Humble 환경 설정 (필수!)
source /opt/ros/humble/setup.bash
# 2. Gazebo (Fortress/Ignition)를 사용하여 빌드 및 실행
cd ~/PX4-Autopilot
make px4_sitl gazebo
3rd terminal
source /opt/ros/humble/setup.bash
ros2 run mavros mavros_node --ros-args -p fcu_url:=udp://:[email protected]:14555 -p 'gcs_url:=""'
4th terminal
source /opt/ros/humble/setup.bash
ros2 topic echo /mavros/local_position/pose
실행 결과
Gazebo terminal에 명령 입력
commander arm
commander takeoff