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- Updated Dockerfile to set up gimbal joints for camera control. - Refactored KeyPressModule to handle keyboard inputs for drone control and gimbal adjustments. - Improved keyboard-mavsdk-test.py to include gimbal control commands. - Modified px4_ros2_gazebo.yml for streamlined simulation window management. - Added move_car.py for car model movement in Gazebo. - Created setup_gimbal.py to modify camera model for gimbal integration. - Updated uav_camera_det.py to create a resizable window for detected frames. - Enhanced default.sdf and default_docker.sdf with additional sensor plugins. - Added How_to_run.md for detailed build and run instructions.
Key changes: - New Dockerfile for ArduPilot (SITL + ardupilot_gazebo plugin + ros-humble-ros-gzgarden) - Gazebo world with iris_with_gimbal drone (3-axis gimbal + camera) - setup_gimbal_ardupilot.py configures camera topic and frame rate - keyboard-mavsdk-test.py: MAVSDK on UDP 14550, pymavlink mode switching (1-5 keys) - move_car.py: non-blocking gz service calls with 2s timeout - Tmuxinator config for 6-pane ArduPilot session - SITL params tuned for 250Hz Gazebo physics (SCHED_LOOP_RATE=125) - run_ardupilot.sh / run_px4.sh one-command Docker scripts - README rewritten for dual-stack setup with Pixhawk hardware info
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Summary
keys)
What changed
setup_gimbal_ardupilot.py
(Loiter/AltHold/Guided/Stabilize/Land)
scene
stacks