Implemented in real environment

[Zhao-Zipeng]

hello
I would like to transfer the avoidance path used in agile_autonomy to PX4, as described in the thesis. Therefore, I’m curious about how you integrated the output data from agile_autonomy to control the PX4 drone—specifically, how the generated trajectories or control commands were interfaced with PX4 for execution.
Any guidance you could provide would be greatly appreciated.

[yushuang200109011]

We use an Nvidia orin NX as the onboard computing unit. The orin NX is connected to PX4 via a type-c cable and uses mavros to publish control commands. For communication between the orin NX and the ground station, we use https://github.com/shupx/swarm_ros_bridge to communicate over the WI-FI network. I'm sorry that we do not plan to open source the deployment code, and you can refer to the process above.