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Dronecode - uORB Messaging

Last updated at Posted at 2020-07-05

ドローンの自律飛行を実現するには、DronecodeとMAVSDKを試してみます。

目次

  1. PX4環境構築
  2. uORB Messaging
  3. QGroundControlの使い方(ユーザーガイド)
  4. MAVLinkの入門
  5. QGroundControlのカスタマイズ開発

動作環境

  • Ubuntu 18.04
  • ROS Melodic

uORB Messaging

uORBとは、スレッドとプロセス内通信で非同期な publish/subscribeのメッセージAPIです。

新しいTopicの追加

  • msg/フォルダーに.msgファイルを追加
  • msg/CMakeLists.txtにファイル名を追加
  • Topicを使用には、headerファイルをinclude
#include <uORB/topics/topic_name.h>

Topicのパブリッシュ

list all topics

ls /obj

listen to the content of one topic for 5 messages

listener sensor_accel 5

shows the publishing frequency of each topic in real-time

uorb top
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