avx_ros_package

Flash Ubuntu image onto TX2.

Enable Universe software repositories from the Apt repository list.

sudo vim /etc/apt/sources.list

Uncomment the following 4 lines from the file.

deb http://ports.ubuntu.com/ubuntu-ports/ xenial universe
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial universe
deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe

Update package manager.

sudo apt-get update

Launch ubuntu_ros_mavros.sh script to install ros and mavros on the TX2.

git clone https://github.com/PX4/avx_ros_package.git
cd avx_ros_package.git/scripts/
vim ubuntu_ros_mavros.sh

Please change under Address to your IP Address in the file at

[UdpEndpoint UserRemote]
Mode = Normal
Address = 192.168.1.XXX
Port = 14550

chmod +x ubuntu_ros_mavros.sh
./ubuntu_ros_mavros.sh

For the usual setup Pixhawk -> Companion Computer -> QGC you need to have a serial port between pixhawk and companion computer, a udp port to localhost for mavros running on the companion computer and a udp port to your laptop/tablet IP where you will run QGC.

sudo vim /etc/rc.local
mavlink-routerd &

Add the mavlink-routerd & before exit 0.

Also the Dronecode SDK can run on the TX2 to communicate with the flight controller.

Install Dronecode SDK and takeoff_land example by launching the following script.

chmod +x ubuntu_dronecode_sdk.sh
./ubuntu_dronecode_sdk.sh

Launch Dronecode SDK example.

cd ~/DroneCore/example/takeoff_land/build
./takeoff_and_land