imav2025_swarm

Running the mission

It is recommended to use tmux.

Running MicroXRCEAgent:

MicroXRCEAgent serial -D /dev/ttyAMA0 -b 921600

Running the system:

ros2 launch imav2025_swarm swarm_member.launch.py drone_id:=<int> ns_prefix:=<px4|uav>

Starting the mission:

ros2 service call /<px4|uav>_1/swarm_start std_srvs/srv/Trigger "{}"

PX4 parameters

• UXRCE_DDS_CGF: serial port set up (for IMAV it is TELEM/SERIAL 4)
• SER_TEL4_BAUD: baud rate for telem/serial4 port (for imav it is 921600 8N)
• UXRCE_DDS_NS_IDX: sets up the namespace
• MAV_SYS_ID: should be UXRCE_DDS_NS_IDX + 1

Setting up the development environment

Building the image locally:

docker build -t highflyers/imav-2025:latest . --build-arg USER_UID=$(id -u)

Running the container:

Run scripts/set_GPU_param.sh to detect the GPU support and set the DOCKER_GPU_PARAM value. Defualts to device=/dev/dri (no GPU support).

It is recommended to develop inside a devcontainer.

For running the container manually, use:

docker run --name imav --network host --ipc host --privileged -it highflyers/imav-2025:latest /bin/bash