Launch PX4 sim

make px4_sitl_default gz_x500_mono_cam_down_aruco

OR for multiple vehicle

PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=x500_mono_cam_down ./build/px4_sitl_default/bin/px4 -i 1

AND

PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,1" PX4_SIM_MODEL=lawnmower_aruco ./build/px4_sitl_default/bin/px4 -i 2

Launch micro dds

MicroXRCEAgent udp4 -p 8888

Launch the ros_gz_bridge for briding the camera topic

ros2 run ros_gz_bridge parameter_bridge /camera@sensor_msgs/msg/Image@gz.msgs.Image

Launch the ros_gz_bridge for briding the camera info topic (this is how we get camera intrinsics)

ros2 run ros_gz_bridge parameter_bridge /camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo

Launch the ros2 nodes (aruco_tracker and precision_land)

ros2 launch precision_land test.launch.py

View the video (/image_proc is the annoted image)

ros2 run rqt_image_view rqt_image_view