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ROS2\n\n## Software y Hardware \n\n\u003cdetails\u003e\n    \u003csummary\u003eSoftware\u003c/summary\u003e\n\n* [ROS2 Jazzy](https://index.ros.org/p/desktop_full/#jazzy)\n* [Gazebo Harmonic](https://gazebosim.org/docs/harmonic/getstarted/)\n* [uROS Jazzy](https://github.com/micro-ROS/micro_ros_setup/tree/jazzy)\n* [uROS Arduino Jazzy](https://github.com/micro-ROS/micro_ros_arduino/tree/jazzy)\n* [KiCad](https://www.kicad.org)\n\n\u003c/details\u003e\n\n\u003cdetails\u003e\n    \u003csummary\u003eComponentes electrónicos\u003c/summary\u003e\n\n* 1 [ESP-WROOM-32 Devkit](https://www.amazon.com/-/es/ESP32-DevKitC-ESP32-WROOM-32-ESP32-WROVER/dp/B07W6F2Z3K)\n* 1 Módulo IMU [MPU6050](https://www.amazon.com/-/es/MPU6050-Accelerometer-Gyroscope-Module-Arduino/dp/B00KQK8X2A)\n* 1 Módulo GPS [NEO-6M](https://www.amazon.com/-/es/NEO-6M-GPS-Module-For-Arduino/dp/B00KQK8X2A)\n* 1 Sensor de temp. y humedad [DHT22](https://www.amazon.com/-/es/DHT11-Temperature-Humidity-Sensor-Arduino/dp/B00KQK8X2A)\n* 1 Resistencia de 10KΩ\n* 1 Módulo [BMP280](https://www.amazon.com/-/es/BME280-Temperature-Humidity-Barometric-Pressure/dp/B00KQK8X2A)\n* 4 Módulos sensores de distancia [HC-SR04](https://www.amazon.com/-/es/HC-SR04-Ultrasonic-Distance-Transducer-Arduino/dp/B00KQK8X2A)\n* 1 Pantalla [OLED 0.96\"](https://www.amazon.com/-/es/0-96-Inch-OLED-Display-Arduino/dp/B00KQK8X2A)\n* 4 Motores brushless [1000KV](https://www.amazon.com/-/es/Brushless-Motor-1000KV-Drone-Quadcopter/dp/B00KQK8X2A)\n* 4 Controladores de velocidad [(ESC) 30A](https://www.amazon.com/-/es/Brushless-Controller-30A-Quadcopter-Multicopter/dp/B00KQK8X2A)\n* 1 Batería LiPo [2S 4Ah](https://www.amazon.com/-/es/LiPo-Battery-2200mAh-3S-11-1V/dp/B00KQK8X2A)\n* 1 Powerbank [30A 3.7V](https://www.amazon.com/-/es/Power-Bank-3-7V-30A/dp/B00KQK8X2A)\n\n\u003c/details\u003e\n\n\u003cdetails\u003e\n    \u003csummary\u003eComponentes mecánicos\u003c/summary\u003e\n\n* 1 Chasis de multirotor [F450](https://www.amazon.com/-/es/F450-Quadcopter-Frame-Kit-Quadcopter/dp/B00KQK8X2A)\n* 4 Hélices [1045](https://www.amazon.com/-/es/1045-Propeller-Quadcopter-Multicopter-Drone/dp/B00KQK8X2A)\n* Piezas impresas en 3D\n\n\u003c/details\u003e\n\n## Instalación\nEs posible instalar el software de [ROS2](https://docs.ros.org/en/jazzy/index.html), [Gazebo](https://gazebosim.org/docs/harmonic/install/) y [micro-ROS](https://micro.ros.org/docs/tutorials/core/overview/) siguiendo los pasos de la documentación oficial o con el script de instalación [install-ros.sh](./src/install-ros.sh):\n\n```shell\n$SHELL ./src/install-ros.sh\n```\n\n![](img/shell-install.svg)\n\n## Espacio de trabajo (ROS2)\n[ros-ws](ros-ws) es el espacio de trabajo de ROS2 donde se compila el paquete `fdrone` usando para visualizar y simular el multirotor en Gazebo.\n\n```shell\ncd ros-ws\ncolcon build\n```\n\n### Lanzador\nEl lanzador `display.launch.py` se encarga de visualizar el modelo en RVIZ y Gazebo.\n\n```shell\nsource install/setup.$(echo $SHELL | awk -F '/' '{print $NF}')\nros2 launch fdrone display.launch.py\n```\n\n### Interfaz de usuario\nEl script `vel_put.py` se desarrolló para enviar velocidades al multirotor desde la terminal enviando valores de tipo `Float64` a tópicos puenteados entre ROS2 y Gazebo.\n\n```shell\nsource install/setup.$(echo $SHELL | awk -F '/' '{print $NF}')\nros2 run fdrone vel_put.py\n```\n\n## Electrónica\n[electronic](electronic) contiene el esquema eléctrico de la PCB principal.\n\n| ![](\u003cimg/electronic PCB 3D.png\u003e) | ![](\u003cimg/power PCB 3D.png\u003e) |\n|---|---|\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadnksharp%2Fmultirotor-ros","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fadnksharp%2Fmultirotor-ros","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadnksharp%2Fmultirotor-ros/lists"}