February 08, 2023
- Community Announcement
- Community Q&A
- General Discussions
A.1 : Change of Format to Dev-call
As announced last call, the weekly Wednesday call is a Community QnA time now.
Community Q&A (No deep technical discussions)
Guideline for asking a Question
- Specify what you are trying to achieve
- Specify what environment / platform you are using
- Prepare a Link or Document to help understand if possible
- First, ask the question on Discord or create a Github Issue!
- If you take over 5 minutes for the question, please continue in Discord or a Github Issue.
Q.1 : Can we say that Ubuntu 22.04 is fully supported?
- Currently it works well with PX4 Development environment
- Just ROS2 documentation is not up to date
TODO: Follow up on ROS2 documentation & get main document updated.
Q.2: Which Gazebo version should be kept in Ubuntu 22?
- Ignition Fortress (11) > Gazebo Garden migration
- To run Gazebo 11, it would be better to run in Docker, according to Gazebo documentation, Ubuntu 22 shouldn’t be supporting Gazebo 11
- For Ubuntu 22.04, the only supported Gazebo is ‘Garden’ (== ‘gz’).
- Remove mention of ‘ignition’ in codebase/documentation, as it is outdated (replaced by ‘fortress’ == ‘ign’)
- Update Gazebo version mentions in the Docs (Only keep ‘Gazebo classic’ and ‘Gz’, but clarify the ‘garden’ is also part of ‘Gz’): Junwoo will make PR and tag ppl. Also mention instruction for Docker solution. Issue already created by Ramon: Update Gazebo / Ignition references · Issue #2265 · PX4/PX4-user_guide · GitHub & Gazebo dependency updates · Issue #21090 · PX4/PX4-Autopilot · GitHub
- Remove the ‘gazebo classic’ install in Ubuntu 22.04 in PX4 codebase.
Q.3: Propwash modeling in Gazebo - Harshil
Implementing it for simulating a duo-tailsitter in SITL (another thing which is not stock supported).
- Have been trying to implement prop-wash dynamics in lift-drag plugin of Gazebo
- Modifying the PX4 Gazebo SITL repo’s lift-drag plugin directly.
- Using Gazebo 9 (classic)
Answer: Try to upstream this (to OSRF repo), and use the model in the .sdf file.
- How to model the prop-wash?
Have conducted literature survey, and for now using Near Field Approximation would be feasible.
Action Item: Will update on the progress when it gets upstream-able.
Q.4: Running Gazebo & PX4 instance separately - Josh
Current documentation doesn’t really work: Gazebo Simulation | PX4 User Guide
Solution: Just run the
px4 binary in the
build folder with the environment variables are given to it directly.
Try this script: sim_gazebo_bringup/sim_gazebo.launch.py at 587d33d8de0e290b5662c88b3414a1a191e87800 · rudislabs/sim_gazebo_bringup · GitHub
TODO: Would be nice when this is figured out, to create a PR on PX4 Docs
Q.5: How to do flight testing effectively? - Harshil
Currently, testing via Mission plans in SITL. How are the ‘tests’ (e.g. Mavsdk) used?
- Functional Test: MAVSDK driven mission flight tests exist
Try this doc out: Integration Testing using MAVSDK | PX4 User Guide
How to improve Simulation speed?
- Launch in ‘headless’ mode: Gazebo Simulation | PX4 User Guide
D.1 : Preflight check rework prevents takeoff with Optical Flow - Alex
D.2 : Pixhawk Carrier board with Jetson Nano - Alex
- What kind of features would be desired?
- What kind of connectors should be broken out from Autopilot / Jetson, etc?
- Currently MIPI Camera connectors will all be broken out (Jetson): 4x
- Break out as many USB-C as well (for multiple camera connection)
- Storage: SD card slots exist? / may differ for production models (will check different Jetson Nano form-factors compatibility)
- Would like to have vision based position mode flight demo