UAV Forge Flight Software 2025

Setup

1. Clone the repo into the src directory of a ROS workspace. For example, Eric's is in ~/code/uavf_ws/src/uavf_2025. The ROS workspace part is the uavf_ws folder. This can be called whatever, but the src directory needs to be called src.

2. cd into this folder and run these commands:

    python3 -m venv venv
    source venv/bin/activate
    pip install -e .
    pre-commit install
   

Building and running the main ROS node

1. cd into your ROS ws directory. (ex: ~/code/uavf_ws)
2. colcon build (if there are other packages, you can just do colcon build --packages-select uavf_2025)
3. source install/setup.bash
4. ros2 launch uavf_2025 main_node.launch.py

Running unit tests

1. cd into the directory the repository is cloned into (uavf_2025)
2. run this command: pytest

Handy dandy ROS commands

remember to source install/setup.bash and colcon build from the ws directory Spawning stuff: ros2 run ros_gz_sim create -file /home/miller/code/ardu_ws/src/ardupilot_gazebo/models/stop_sign -name target_4 -x 0 -y 0 -z 0 --ros-args --log-level error

ros2 launch ardupilot_gz_bringup iris_runway.launch.py ros2 run mavros mavros_node --ros-args -p fcu_url:=udp://127.0.0.1:14550@14550 -p system_id:=255

Payload

To set up a real payload module on a new device add these lines to your ~/.bashrc or enviorment

export PAYLOAD_SERIAL_PORT = "your_serial_path"

To find your serial path use the following command to view the latest plugged in port:

sudo dmesg

To drop a gazebo payload manually run the following:

 ros2 service call uavf_drop_srv std_srvs/srv/Empty