YOPO-ROS2

A ROS 2 version for TJU-YOPO-Simple

🛠️ Build Instructions

1. Build the utils library inside Controller

The Controller/src/utils directory contains C++ and message utilities required by other components. Build it first within the Controller workspace:

cd Controller
colcon build --packages-select utils --symlink-install

2. Build the full Controller package

cd Controller
colcon build

3. Build the Simulator package

cd Simulator
colcon build 

▶️ Launch Instructions

Open three separate terminals to run the full system:

Terminal 1: Launch drone simulator (SO(3) controller)

cd Controller
source install/setup.bash
ros2 launch so3_quadrotor_simulator simulator_attitude_control.launch.py

Terminal 2: Launch CUDA sensor simulator

cd Simulator
source install/setup.bash
ros2 run sensor_simulator sensor_simulator_cuda

Terminal 3: Run YOPO policy node

cd YOPO
# Source Controller to access quadrotor_msgs
source ~/Controller/install/setup.bash
python3 test_yopo_ros.py