Multi-drone Control with Px4

Initial SetUp

Download the PX4 repo

cd /path/to/workspace

git clone https://github.com/PX4/PX4-Autopilot.git --recursive

Install the software

cd /path/to/workspace

bash ./PX4-Autopilot/Tools/setup/ubuntu.sh

Download and Install QGroundControl software in your workspace

https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

Install the repository requirements

cd DRONES-PX4

pip install -r requirements.txt

How to Run a Simple Simulation

Choose a simulator among the following choices (jmavsim / gazebo garden / gazebo classic / custom):

Jmavsim Simulator
Start JMavSim with iris (default vehicle model): make px4_sitl jmavsim

Gazebo Simulator (Ubuntu22 - gazebo ignition/gazebo garden)
Start Gazebo with the x500 multicopter: make px4_sitl gz_x500

Gazebo classic has more models and worlds that gazebo ignition, IF you want to install gazebo classic on ubuntu22, remove gazebo garden and reinstall gazebo classic 11 (RISK of dependancies issues!):

sudo apt remove gz-garden
sudo apt install aptitude
sudo aptitude install gazebo libgazebo11 libgazebo-dev

Gazebo Simulator (Ubuntu20 - gazebo classic)
Start Gazebo with the iris multicopter: make px4_sitl_default gazebo-classic

IF you want to use gazebo garden in ubuntu20 (the procedure will uninstall gazebo-classic!):

sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-garden

Custom Simulator
Start PX4 with no simulator (i.e. to use your own "custom" simulator): make px4_sitl none_iris

Then you che start the connection with the ground control and the mavsdk api

Start the QGroundControl App: ./QGroundControl.AppImage

Write your code in drone_control.py main function and run the file: python3 drone_control.py

Set custom default Takeoff Location:

Jmavsim/Gazebo-Classic Simulator:

export PX4_HOME_LAT=44.69865720233633
export PX4_HOME_LON=10.645858339984548
export PX4_HOME_ALT=30
make px4_sitl jmavsim

Gazebo Garden:

issue still open

How to run a Multi-Vehicle Simulation

To be updated