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To use the package manager (apt
) on the Demo image, you'll need to change your timezone.
First, you'll need to locate the correct timezone file at /usr/share/zoneinfo
. There should be a folder for your country and a file in that folder for the closest city to you.
For example, if you're in Central Time USA, you'd use the following commands:
Now, you can run sudo apt update
and sudo apt upgrade
to get your system up to date.
ROS on NavQ will allow you to interface with sensors, control your drone using MAVROS, and more. To get started, follow the install guide below and then continue to the next sections.
NOTE: ROS1 support is good, but the Mobile Robotics team at NXP's focus is on ROS2. There is a lot more documentation on ROS1 than ROS2, but ROS2 may be easier to use in the long run. We suggest that you do not cross-polinate with ROS, i.e. only use ROS1 or ROS2, not both. Keep in mind that any documentation under the ROS1 section is for ROS1 only, and vice versa.
NOTE: HoverGames participants should be using the Demo image. If you flashed your NavQ with the image from the HoverGames website, or if you're using the image that came installed on the SD Card included in your kit, you're using the Demo image.
When you install ROS Noetic on your NavQ, make sure to install the base version of ROS and not the desktop version. If you install the desktop version, critical gstreamer packages for NavQ can be overwritten and therefore become non-functional.
To install ROS, you need to be on the Demo image. You can follow the guide for installing ROS Noetic Ninjemys at http://wiki.ros.org/noetic/Installation/Ubuntu
If you're using NavQ comercially and are running the HoverGames-BSP image, you'll follow these steps.
ROS Melodic is automatically installed on the HoverGames-BSP image. It includes MAVROS by default. You will need to do a little bit of setup, though, once you first boot your image.
Run the following commands to enable ROS on the HoverGames-BSP image:
You'll also want to download the following script and run it to install GPS geoids:
Now, you can continue with the ROS tutorials for setting up a build environment and installing your first package. We will go over this in the next section.
We have pages for several common software packages. Click the links below or follow the guide on the left of your screen.
FastRTPS and the microRTPS agent are needed on NavQ in order to bridge uORB topics from PX4 to ROS2 on NavQ over a UART or UDP connection. Follow the guide below to build and install these packages.
NOTE: FastRTPS and PX4 ROS Com work differently from MAVROS (ROS1). PX4 ROS Com subscribes to uORB topics rather than MAVLINK messages. See below for a diagram of how microRTPS and PX4 ROS Com works.
Follow the link below for more details on microRTPS and PX4 ROS Com:
First, we will install the FastRTPS project from eProsima. Use the following commands below to do so:
Next, we will build and install the necessary software that will allow us to use ROS2 to communicate with the microRTPS bridge. First, run the following commands:
URGENT: Building px4_ros_com requires a lot of ram. Enabling a swap disk is highly recommended. This will take up 1GB of space on your storage medium.
Run the following commands to enable a 1GB swapfile:
Now, build the workspace:
This will take a long time to build on NavQ. In our experience, it takes anywhere from 45 minutes to an hour. Make sure you have a stable connection to NavQ over UART or SSH, and do not let the NavQ lose power!
In order to run all of your specific ROS2 software successfully, you must source the install/setup.bash files in each of your ROS2 workspace folders. Add the following lines to your .bashrc to do so:
Continue to the next page to set up a systemd
service that will automatically start the micrortps agent on your NavQ. The guide will also cover how to automatically start the client on the FMU.
Generate a start up script for the micrortps client under /usr/local/bin
with content
Save the file and exit nano. Make the file executable
Generate a systemd service file to start the startup script at boot
with content
Save the file and exit nano. Check if the process starts
You should see an state active (running), quit with <q> Enable the systemd service file finally to be active at boot