VisionFlow-PX4

English

中文

English

中文

Appearance

Quick Verification ​

After completing installation and launch, verify that the environment is working properly through the following steps.

1. Verify Docker Environment ​

bash
# Check if Docker is running
docker info

# Check if NVIDIA GPU is available
docker run --rm --gpus all nvidia/cuda:12.2-base nvidia-smi

2. Verify PX4 SITL ​

bash
# Enter Docker container
bash docker/into_gz_sitl.sh

# Check PX4 version
px4 --version

# List available simulation targets
ninja -C build/px4_sitl_default -t targets | grep "^gz_"

3. Verify Gazebo Simulation ​

bash
# Launch minimal simulation
gz sim -r Tools/simulation/gz/worlds/laboratory_landingbox.sdf

You should see a Gazebo window open, displaying the laboratory scene.

4. Verify ROS 2 Bridge ​

In another terminal:

bash
# Start data bridge
bash windshape_dev/data_stream/gz_bridge/bridge_gz_ros.sh

# Check topics
ros2 topic list

You should see bridged topics such as /gz/camera/... and /camera/....

5. Verify QGroundControl Connection ​

After launching QGroundControl, it should automatically connect to PX4 SITL (default UDP port 14550).

Check connection status:

  • Vehicle status shows "Ready"
  • Sensor data can be viewed
  • Control commands can be sent

6. Verify Arm Control ​

bash
# Launch Gamma arm web control
bash windshape_dev/arm_control/gamma_arm/gamma_arm_web_control.sh

Open the displayed address in a browser; you should see the arm control panel.

Verification Checklist ​

  • [ ] Docker image built successfully
  • [ ] Gazebo scene loads correctly
  • [ ] PX4 SITL runs without errors
  • [ ] ROS 2 topic bridging works correctly
  • [ ] QGroundControl can connect
  • [ ] Arm control interface is accessible