FIle is available at: https://drive.google.com/file/d/1AOffxn0B_Ug9SrXcvw8nzAY3KY0F3ao4/view?usp=sharing
After download the .tar file, import the distro in windows PowerShell.
Setup mirror network in your computer as follows:
This mode allows WSL2 to use the same IP address as the Windows host computer.
After this configuration, the QGC on the Windows host machine can directly talk to the WSL simulation without additional settings
wsl --update
Then open WSL Settings and set networking mode to mirrored.
[wsl2]
networkingMode=mirrored
dnsTunneling=true
firewall=true
autoProxy=true
[experimental]
# requires dnsTunneling but is also OPTIONAL
bestEffortDnsParsing=true
useWindowsDnsCache=true
wsl --shutdown
wsl
ifconfig
If ifconfig not found, run:
audo apt install net-tools
Then install QGroundControl on windows: https://docs.px4.io/main/en/dev_setup/dev_env_windows_wsl.html#qgroundcontrol \ The QGC parameters file is also available in this repository.
In a new terminal:
ros2 launch sls_offset_ctrl init.launch.py
After model is loaded, click the start icon.
In a new terminal:
ros2 launch sls_offset_ctrl node.launch.py
In a new terminal:
ros2 run rqt_reconfigure rqt_reconfigure
A window will pop up, click the check box of "mission_enabled_" to start trajectory tracking.