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Groundstation Software Overview

ROS2 Nodes

There are two ROS2 nodes included in the groundstation software:

asv_status: A GUI application that allows you to monitor the vehicle, enable/disable recording of ZED2 and telemetry data on the vehicle, and see the camera stream. Below is a screenshot of asv_status in action:

asv_status

The items under System Status indicate the state of requirements necessary to enable recording of data. The system must sucessfully:

  1. Receive a GPS time source
  2. Attain a GPS fix
  3. Find a valid location to store data in (as configured in recorder.yaml)
  4. Successfully initialize the camera

Once all status elements read "OK" and the Recording Status on the right says "READY", you will be able to enable/disable recording by clicking the Enable Recording checkbox.

mockbot: An application that mimics the software running on the vehicle that can be used with asv_status to see how it works. Run this alongside asv_status on your desktop to get a preview of what will happen when the vehicle software is running.

Ground Control Station

Additionally, the user is expected to use QGroundControl, a Qt-based Drone ground control station application, to configure and plan missions for the vehicle. For more information visit:

http://qgroundcontrol.com/

Using ROS2 tools

Similarly to on the vehicle, you can use the ROS2 command line utilities to interact with any of the ROS2 nodes:

# Source the ROS2 Underlay
source /opt/ros/foxy/setup.bash

# Some commands
ros2 topic list
ros2 topic echo "gps"