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67 lines
2.6 KiB
Plaintext
67 lines
2.6 KiB
Plaintext
備選需要的功能
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- serial_manager.serial_object.transport 這些變數可能不需要
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不用動
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- mavlink_object 的 send_message 確認一下 mavlink_bridge 的 _send_to_socket 是不是應該做成 async
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這一步
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RTK
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跟 RTK2go 抓取列表 Done
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從特定 mount point 得到數據 Done
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做一個 ros2 service 接到數據並包裝
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下一步
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重啟做好了 但是還沒自動化
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下下一步
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整合 xbee api-api 功能
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後面
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自己的常用指令
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python -m fc_network_adapter.tests.test_vehicleStatusPublisher
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python -m fc_network_adapter.tests.test_ringBuffer
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python -m fc_network_adapter.fc_network_adapter.mainOrchestrator
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python -m someotherpkg.src.example_takeoff_land
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python -m someotherpkg.src.example_change_mode
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python -m fc_network_module.fc_network_module.ntrip_client --ros-args -p mountpoint:=No1bio_02 -p username:=chiyu1468@hotmail.com
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python -m fc_network_module.fc_network_module.ntrip_client --ros-args -p host:=210.241.63.193 -p port:=81 -p mountpoint:=2020_GNSS -p username:=uavlab6061 -p password:=iamsupersmart
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export ROS_DOMAIN_ID=13
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ros2 daemon stop
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ros2 daemon start
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ros2 topic list
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ros2 topic echo /fc_network/vehicle/sys3/battery
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ros2 topic echo hz /fc_network/vehicle/sys3/battery
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ros2 topic bw /fc_network/vehicle/sys3/attitude
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ros2 topic hz /fc_network/vehicle/sys3/attitude
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/home/picars/ardupilot/build/sitl/bin/arducopter -S --model + --speedup 1 --slave 0 --defaults /home/picars/ardupilot/Tools/autotest/default_params/copter.parm --sim-address=127.0.0.1 -I3 --sysid 7
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mavproxy.py --master=tcp:127.0.0.1:5790 --out=udp:127.0.0.1:14560
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ros2 service call /mavlink/add_two_ints example_interfaces/srv/AddTwoInts "{a: 5,b: 8}"
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ros2 service call /fc_network/vehicle/mav_ping fc_interfaces/srv/MavPing "{target_sysid: 3, target_compid: 0, ping_seq: 1}"
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ros2 service call /fc_network/vehicle/send_command_long fc_interfaces/srv/MavCommandLong "{target_sysid: 3, target_compid: 0, command: 176, confirmation: 0, param1: 1, param2: 4, param3: 0,param4: 0,param5: 0,param6: 0,param7: 0, timeout_sec: 2}"
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ros2 service call /fc_network/vehicle/send_command_long fc_interfaces/srv/MavCommandLong "{target_sysid: 10, target_compid: 0, command: 176, confirmation: 0, param1: 1, param2: 4, timeout_sec: 2}"
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ros2 service call /fc_network/vehicle/pos_global_int fc_interfaces/srv/MavPositionTargetGlobalInt "{target_sysid: 3, target_compid: 1, coordinate_frame: 6, type_mask: 3576, lat_int: -35376655, lon_int: 149157011, alt: 20.0, timeout_sec: 5.0}"
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sudo tcpdump -i lo 'udp dst port 14561' -X
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sudo tcpdump -i lo 'udp dst port 14550' -X -vv
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sudo tcpdump -i lo -X udp port 14550
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