taarn_mallard_onboard

Dependencies

• MallARD
• visual_vertual_tether
• mavros & mavlink
• apriltag_ros (UOM modified)

Install

See install/INSTALL.md

SITL setup

MallARD is set to udp 127.0.0.2:1455x

<arg name="fcu_url" default="udp://127.0.0.2:14550@udp://127.0.0.2:14555" />

Start SITL with:

sim_vehicle.py --console -v ArduSub -f mallard --out=127.0.0.2:14550 -I1

Type output in the terminal, you should see:

MANUAL> 2 outputs
0: xxx.xxx.xxx.xxx:xxxxx
1: 127.0.0.2:14550

Run

roslaunch taarn_mallard_onboard mallard_onboard.launch

SITL test

You should be able to ARM Bluerov now:

rosservice call /mallard/mavros/cmd/arming "value: true"

The output should be:

success: True
result: 0

You can also see heartbeat messages at 1 Hz from ros topic

rostopic echo /mallard/mavros/state