Skip to content

Jetson Nano and Quadrotor Integration

The following documentation gives instructions on how to set up a new Jetson Nano to control a quadrotor with PX4 autopilot.

Set-up

Follow the detailed instructions provided by PX4: Holybro Pixhawk Jetson Baseboard

Pixhawk<->Jetson Connection

The Jetson and Pixhawk are connected using an internal ethernet cable.

Set correct IP address for the client if not automatically configured 

uxrce_dds_client stop
param set UXRCE_DDS_AG_IP -1062731775
param save
uxrce_dds_client start

An alternative to setting the parameter is to run client with override flag 

uxrce_dds_client start -h 192.168.0.1 -p 8888

Check connection from Jetson to Pixhawk 

ping 192.168.0.3

Pull and run the simplest ROS Jazzy container for ARM64 

docker run -it \
    --name ros2-jazzy-px4 \
    --network host \
    --privileged \
    -v /dev:/dev \
    -v $HOME/workspace:/workspace \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    -e DISPLAY=$DISPLAY \
    -e QT_X11_NO_MITSHM=1 \
    --restart unless-stopped \
    ros:jazzy bash

Starting a Session

Login to Jetson

  • ssh command: ssh magicc@192.168.1.83 or ssh magicc@ubuntu.local
  • username: magicc
  • password: magicc

Environment Set-up

Restart the existing container 

docker start ros2-jazzy-px4
docker exec -it ros2-jazzy-px4 bash

Start the agent

MicroXRCEAgent udp4 -p 8888