ros_paparazzi is a ROS 2 package that includes the functionalities to communicate with the Paparazzi autopilot system.
This repository contains two packages:
- ros_paparazzi_core: Contains the main Python nodes responsible for subscribing and publishing data to/from the Paparazzi autopilot system.
- ros_paparazzi_interfaces: Defines the custom ROS 2 message and service types used by
ros_paparazzi_core.
- ROS 2 Humble
- A Raspberry with a SSH configured
Clone the repository into your ROS 2 workspace:
cd {ROS_WORKSPACE}/src
git clone {REPOSITORY}For an easy install, a ./install.sh is included (you can also use colcon to build the package).
At the moment there are four nodes:
- Raspy_Publisher: Manage the serial communication with the AP
- Waypoint_Service: Send the waypoint to the raspberry
- Telemetry_Receiver: Receive the telemetry info (currently position and IMU)
- X_Button: Multiple Nodes to respond to the buttons of the UI
In your computer, launch the UI with
ros2 run ros_paparazzi_core bokeh_serve
For launching the node in the raspberry, a script launch_ros_node.sh is provided.
Currently, there are two working buttons
- The Send Waypoint button will send the waypoint coordinates indicated above itself.
- The Request HOME will reset the coordinates origin
- The Connect Raspberry will launch the node in the Raspberry (not working)