# PX4-ROS2-Gazebo-YOLOv8

**Repository Path**: orcasdli/PX4-ROS2-Gazebo-YOLOv8

## Basic Information

- **Project Name**: PX4-ROS2-Gazebo-YOLOv8
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-12-15
- **Last Updated**: 2025-12-15

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# PX4-ROS2-Gazebo-YOLOv8
Aerial Object Detection using a Drone with PX4 Autopilot and ROS 2. PX4 SITL and Gazebo Garden used for Simulation. YOLOv8 used for Object Detection.

## Demo
https://github.com/monemati/PX4-ROS2-Gazebo-YOLOv8/assets/58460889/fab19f49-0be6-43ea-a4e4-8e9bc8d59af9

## Docker
- You can pull the already built image by me or use the provided Dockerfile.
```commandline
# Pull
docker pull monemati/px4_ros2_gazebo_yolov8

# Run
XAUTH=/tmp/.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
docker run --privileged -it --gpus all -e NVIDIA_DRIVER_CAPABILITIES=all -e NVIDIA_VISIBLE_DEVICES=all --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --env="XAUTHORITY=$XAUTH" --volume="$XAUTH:$XAUTH" --network=host --ipc=host --shm-size=2gb --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" --rm --name px4_ros2_gazebo_yolov8_container monemati/px4_ros2_gazebo_yolov8
```

- You can build custom docker image using the provided Dockerfile, already tested with the v1.15.0 version of PX4-Autopilot.
```commandline
# Build
git clone https://github.com/monemati/PX4-ROS2-Gazebo-YOLOv8.git
cd PX4-ROS2-Gazebo-YOLOv8
docker build -t px4_ros2_gazebo_yolov8_image .

# Run
XAUTH=/tmp/.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
docker run --privileged -it --gpus all -e NVIDIA_DRIVER_CAPABILITIES=all -e NVIDIA_VISIBLE_DEVICES=all --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --env="XAUTHORITY=$XAUTH" --volume="$XAUTH:$XAUTH" --network=host --ipc=host --shm-size=2gb --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" --rm --name px4_ros2_gazebo_yolov8_container px4_ros2_gazebo_yolov8_image
```

## Manual Installation
### Create a virtual environment
```commandline
# create
python -m venv ~/px4-venv

# activate
source ~/px4-venv/bin/activate
```
### Clone repository
```commandline
git clone https://github.com/monemati/PX4-ROS2-Gazebo-YOLOv8.git
```
### Install PX4
```commandline
cd ~
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
cd PX4-Autopilot/
make px4_sitl
```
### Install ROS 2
```commandline
cd ~
sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update && sudo apt upgrade -y
sudo apt install ros-humble-desktop
sudo apt install ros-dev-tools
source /opt/ros/humble/setup.bash && echo "source /opt/ros/humble/setup.bash" >> .bashrc
pip install --user -U empy pyros-genmsg setuptools
```
### Setup Micro XRCE-DDS Agent & Client
```commandline
cd ~
git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
cd Micro-XRCE-DDS-Agent
mkdir build
cd build
cmake ..
make
sudo make install
sudo ldconfig /usr/local/lib/
```
### Build ROS 2 Workspace
```commandline
mkdir -p ~/ws_sensor_combined/src/
cd ~/ws_sensor_combined/src/
git clone https://github.com/PX4/px4_msgs.git
git clone https://github.com/PX4/px4_ros_com.git
cd ..
source /opt/ros/humble/setup.bash
colcon build

mkdir -p ~/ws_offboard_control/src/
cd ~/ws_offboard_control/src/
git clone https://github.com/PX4/px4_msgs.git
git clone https://github.com/PX4/px4_ros_com.git
cd ..
source /opt/ros/humble/setup.bash
colcon build
```
### Install MAVSDK
```commandline
pip install mavsdk
pip install aioconsole
pip install pygame
sudo apt install ros-humble-ros-gzgarden
pip install numpy
pip install opencv-python
```
### Install YOLO
```commandline
pip install ultralytics
```
### Additional Configs
- Put below lines in your bashrc:
```commandline
source /opt/ros/humble/setup.bash
export GZ_SIM_RESOURCE_PATH=~/.gz/models
```
- Copy the content of models from main repo to ~/.gz/models
- Copy default.sdf from worlds folder in the main repo to ~/PX4-Autopilot/Tools/simulation/gz/worlds/
- Change the angle of Drone's camera for better visual:
```commandline
# Go to ~/PX4-Autopilot/Tools/simulation/gz/models/x500_depth/model.sdf then change <pose> tag in line 9 from:
<pose>.12 .03 .242 0 0 0</pose>
to:
<pose>.15 .029 .21 0 0.7854 0</pose>
```

## Run
### Fly using Keyboard
You need several terminals.
```commandline
Terminal #1:
cd ~/Micro-XRCE-DDS-Agent
MicroXRCEAgent udp4 -p 8888

Terminal #2:
cd ~/PX4-Autopilot
PX4_SYS_AUTOSTART=4002 PX4_GZ_MODEL_POSE="268.08,-128.22,3.86,0.00,0,-0.7" PX4_GZ_MODEL=x500_depth ./build/px4_sitl_default/bin/px4

Terminal #3:
ros2 run ros_gz_image image_bridge /camera

Terminal #4:
source ~/px4-venv/bin/activate
cd ~/PX4-ROS2-Gazebo-YOLOv8
python uav_camera_det.py

Terminal #5:
source ~/px4-venv/bin/activate
cd ~/PX4-ROS2-Gazebo-YOLOv8
python keyboard-mavsdk-test.py
```
When you run the last command a blank window will open for reading inputs from keyboard. focus on that window by clicking on it, then hit "r" on keyboard to arm the drone, and use WASD and Up-Down-Left-Right on the keyboard for flying, and use "l" for landing.

### Fly using ROS 2
You need several terminals.
```commandline
Terminal #1:
cd ~/Micro-XRCE-DDS-Agent
MicroXRCEAgent udp4 -p 8888

Terminal #2:
cd ~/PX4-Autopilot
PX4_SYS_AUTOSTART=4002 PX4_GZ_MODEL_POSE="283.08,-136.22,3.86,0.00,0,-0.7" PX4_GZ_MODEL=x500_depth ./build/px4_sitl_default/bin/px4

Terminal #3:
ros2 run ros_gz_image image_bridge /camera

Terminal #4:
source ~/px4-venv/bin/activate
cd ~/PX4-ROS2-Gazebo-YOLOv8
python uav_camera_det.py

Terminal #5:
cd ~/ws_offboard_control
source /opt/ros/humble/setup.bash
source install/local_setup.bash
ros2 run px4_ros_com offboard_control
```

## Acknowledgement
- https://github.com/PX4/PX4-Autopilot
- https://github.com/ultralytics/ultralytics
- https://www.ros.org/
- https://gazebosim.org/