markusachtelik / mavlink_ros Goto Github PK

SERIAL MAVLINK to ROS BRIDGE

This ROS node allows to send and receive MAVLINK packets through a serial interface.

For help, please visit http://github.com/pixhawk/mavlink-ros-pkg/issues

MAVLINK is documented at:
http://qgroundcontrol.org/mavlink/
ROS is documented at:
http://ros.org

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INSTALLATION:
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This ROS node depends on the glib library. Install it with:

  sudo apt-get install libglib2.0-dev

Additionally, you need the header only MAVLINK library.
The build script assumes it to reside in the same parent directoy as the ROS
package. Choose a directory path and download the MAVLINK library:

  mkdir ~/project_folder
  cd ~/project_folder
  git clone [email protected]:pixhawk/mavlink

# Checkout the source code (if you don't want to fork on github.com
  use [email protected]:pixhawk/mavlink-ros-pkg)

   git clone <this repository url>

# Add the folder to the ROS package list

  # LINUX (Ubuntu)

   gedit ~/.bashrc
   nano ~/.bashrc

  # MAC OS

   subl ~/.bash_profile
   nano ~/.bash_profile

# Add this line (ADJUST THE FOLDER!)

   export ROS_PACKAGE_PATH=~/project_folder/mavlink_ros:$ROS_PACKAGE_PATH

# Reload bash rc

   source ~/.bashrc

# Build the package with rosmake

   rosmake mavlink_ros


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USE:
================================================================================

Start the node:

   rosrun mavlink_ros mavlink_ros_serial -p /dev/ttyUSB0 -b 11500