pixhawk-android-gps-follower

To Run

• Build: catkin build follower
• Test: roslaunch follower test_kf.launch - launches Kalman filter node and dependencies

Running Locally

Connect phone and pixhawk to same network

1. Ensure they are on the same wifi network. Check by running ifconfig and checking for inet in wlp2s0.
2. export ROS_MASTER_URI=http://192.168.0.25:11311/ and substitute 192.168.0.25 with the network (inet) address.
3. Launch mavros roslaunch mavros px4.launch
4. Launch the ROS driver app on your phone and enter the same network http://192.168.0.25:11311/
5. rostopic list and check that both mavros and your phone are connected.

Instructions to start ros node

1. Build workspace in catkin_ws
2. Source your devel/setup.bash (or setup.zsh)
3. rosrun follower follower_node

Running Remotely (using port forwarding into a webserver + rosbridgecpp)

SSH tunnelling (port forwarding) into serveo.net

1. ssh -R 80:localhost:9090 serveo.net forwards traffic from localhost:9090 to .serveo.net:80
2. Run rosbridge and mavros launch scripts
3. Have a subscriber listen to given-name.serveo.net:80 and publish that data to a local rostopic
4. Run cpp follower node as usual

Geodetic library usage

• Requires catkin_simple to be cloned into workspace src
• Build normally, then run echoer, set_reference and conversion_node respectively

Library dependencies

• imu_tools for Madgwick filter in performing GPS + IMU sensor fusion
• sensorfusion created package, referenced from: https://github.com/maddevsio/mad-location-manager
• rosbridgecpp for rosbridge over websockets implementation

Other Library dependencies

• catkin_simple: https://github.com/catkin/catkin_simple