RASPBERRY PI 4 - PX4 - MOCAP SETUP

A Repo to guide you through setup of Raspberry Pi to be used in MOCAP Space

Table of Contents

1. Components List
2. Raspberry Pi Setup
3. Fast DDS and Fast-DDS-Gen Installation
4. ROS 2 Foxy Installation
5. Workspace Structure Overview
6. Workspace Setup
7. Firmware Flashing and Pixhawk Setup
8. Interfacing PIXHAWK with Raspberry Pi
9. Launching the MicroRTPS Agent and VRPN Nodes
10. Troubleshooting

Components List

1. Raspberry Pi 4
2. EDUP AC600M USB Wi-fi Dongle
3. TTL-232 USB Serial Adapter - 5V or TTL-232 USB Serial Adapter - 3V3
4. Pixhawk Cable Set
5. Power Adapter
6. Telemetry Module

Raspberry Pi Setup

Follow the instructions in the Raspbery_Pi_Setup.md file to setup the Raspberry Pi.

Fast DDS and Fast-DDS-Gen Installation

Follow the instructions in the Fast DDS page to install Fast DDS and Fast-DDS-Gen.

ROS 2 Foxy Installation

Follow the instructions in the Ros2 Foxy page to install ROS 2 Foxy and setup the workspace.

Workspace Structure Overview

The workspace structure is as follows and should almost similar to this.

home
├───Fast-DDS
    ├───foonathan_memory_vendor
    ├───FAST-CDR
    ├───FAST-DDS
├───Fast-DDS-Gen
├───Colcon_ws
    ├───build
    ├───install
    ├───log
    ├───src
        ├───custom_packages
        ├───px4_msgs
        ├───px4_ros_com
        ├───PX4-Autopilot
        ├───vrpn
        ├───vrpn_client_ros

Workspace Setup

Follow the instructions in the Workspace Setup to create the required packages and setup the environment.

Firmware Flashing and Pixhawk Setup

Follow the instructions in the Firmware Flashing and Pixhawk Setup to flash the firmware and setup the Pixhawk.

Launching the MicroRTPS Agent and VRPN Nodes

Follow the instructions in the Launching the MicroRTPS Agent and VRPN Nodes to launch the MicroRTPS Agent and VRPN Nodes.

Troubleshooting

Check this Troubleshooting page for common issues and their solutions.