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Merged
beniaminopozzan merged 1 commit into from
Oct 21, 2025
Merged

Chore/add sensor combined #32

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3 changes: 2 additions & 1 deletion docker/Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,8 @@ FROM pre-dev AS dep-ros2
ARG MICRO_XRCE_DDS_AGENT_VERSION=v2.4.2
ARG PX4_MSGS_VERSION=release/1.16
ARG PX4_ROS2_INTERFACE_LIB_VERSION=release/1.16
RUN --mount=type=bind,source=./docker/scripts/build_ros_deps.sh,target=/root/scripts/build_ros_deps.sh /root/scripts/build_ros_deps.sh ${MICRO_XRCE_DDS_AGENT_VERSION} ${PX4_MSGS_VERSION} ${PX4_ROS2_INTERFACE_LIB_VERSION}
ARG PX4_ROS_COM_VERSION=release/1.16
RUN --mount=type=bind,source=./docker/scripts/build_ros_deps.sh,target=/root/scripts/build_ros_deps.sh /root/scripts/build_ros_deps.sh ${MICRO_XRCE_DDS_AGENT_VERSION} ${PX4_MSGS_VERSION} ${PX4_ROS2_INTERFACE_LIB_VERSION} ${PX4_ROS_COM_VERSION}

########################################
## BUILD PX4 ##
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2 changes: 2 additions & 0 deletions docker/scripts/build_ros_deps.sh
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Expand Up @@ -4,11 +4,13 @@ set -eo pipefail
MICRO_XRCE_DDS_AGENT_VERSION=$1
PX4_MSGS_VERSION=$2
PX4_ROS2_INTERFACE_LIB_VERSION=$3
PX4_ROS_COM_VERSION=$4

mkdir -p /root/px4_ros_ws/src && cd /root/px4_ros_ws/src && \
git clone --depth 1 -b ${MICRO_XRCE_DDS_AGENT_VERSION} https://github.com/eProsima/Micro-XRCE-DDS-Agent.git && \
git clone --depth 1 -b ${PX4_MSGS_VERSION} https://github.com/PX4/px4_msgs.git && \
git clone --depth 1 -b ${PX4_ROS2_INTERFACE_LIB_VERSION} https://github.com/Auterion/px4-ros2-interface-lib.git && \
git clone --depth 1 -b ${PX4_ROS_COM_VERSION} https://github.com/PX4/px4_ros_com.git && \
git clone --depth 1 -b humble https://github.com/ros-perception/vision_opencv.git && \
git clone --depth 1 -b humble https://github.com/ros-perception/image_common.git && \
git clone --depth 1 -b humble https://github.com/ros-perception/image_transport_plugins.git && \
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23 changes: 23 additions & 0 deletions docs/setup.md
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Expand Up @@ -298,6 +298,29 @@ For example, you can check the PX4 vehicle status with
ros2 topic echo /fmu/out/vehicle_status_v1
```

You can also try the `sensor_combined_listener` node from the [px4_ros_com](https://github.com/PX4/px4_ros_com) package and get a user friendly visualization of PX4 accelerometer and gyroscope data:

```sh
ros2 run px4_ros_com sensor_combined_listener --ros-args -p use_sim_time:=true
```

It will output something like:

```sh
RECEIVED SENSOR COMBINED DATA
=============================
ts: 93380000
gyro_rad[0]: -0.000287732
gyro_rad[1]: -0.000181083
gyro_rad[2]: -0.00105683
gyro_integral_dt: 4000
accelerometer_timestamp_relative: 0
accelerometer_m_s2[0]: -0.00764366
accelerometer_m_s2[1]: 6.15756e-05
accelerometer_m_s2[2]: -9.79929
accelerometer_integral_dt: 4000
```

### Foxglove visualization

You can use the [px4_tf](../px4_roscon_25/px4_tf/README.md) packages, in conjunction with `foxglove_bridge` to visualize in 3D the drone `base_link`.
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