ROS2 Pluto

In this tutorial we understand how to control Pluto using ROS2. Caution: Please pay attention to the version of software. The dependencies change heavily.

Installation

1. Install ROS2 Foxy & setup the environment

https://docs.ros.org/en/foxy/Installation/Alternatives/Ubuntu-Development-Setup.html

Install Ubuntu 20.04 or greater version

2. Make a new directory for your workspace:

  mkdir -p ~/ros2_ws/src
  cd ~/ros2_ws/src

3. Install git

    sudo apt-get install git

4. Install the Pluto package Pluto ROS2 Package

• Navigate to your src folder of your workspace using

  cd ~/ros2_ws/src
  

• Clone the pluto package

  git clone https://github.com/DronaAviation/pluto-ros-package
  

• Build the package

    colcon build
  

• Source your new workspace also into the bashrc file using the following command

    echo "source ~/ros2_ws/install/setup.bash" >> ~/.bashrc
  

5. Test run the pluto package

   Open three terminals

   Make sure ros2 is enabled on every terminal

   Also make sure that Pluto Drone(without the camera) is on and your laptop is connected to the wifi

   • On first terminal run :

       ros2 run plutodrone plutonode
     

     This should show a message "Pluto Connected"

   • On the second terminal start the node which enables the PlutoService :

       ros2 run plutoserver plutoserver
     

   • On the third terminal, we will attempt to provide input for control of the drone using keyboard

       ros2 launch plutoserver drone_comb.launch.py 
   

For the list of keyboard commands use the section 4.2 of the ROS wiki tutorial