🚁 PYMAVLINK and ROS2 Interface for Drone Control

This project showcases my work integrating MAVLink with ROS2 to control a drone in a simulated environment using SITL (Software-In-The-Loop). It demonstrates how to interact with a drone using two custom ROS2 nodes and the pymavlink library.

🔧 Task Description

I developed two ROS2 nodes from scratch:

1. battery_gps_node.py
   📡 Publishes the current battery percentage on the battery_status topic.
   🌍 Subscribes to the target_gps topic to receive GPS coordinates and send them to the drone.

2. mission_control_node.py
   🧭 Accepts a GPS coordinate as a command-line argument.
   🚀 Publishes the coordinate to the target_gps topic.
   🛬 Monitors battery status and commands the drone to land if the battery drops below 20%.

✅ Requirements

• ROS2 Humble (or newer)
• pymavlink and mavlink
• A drone simulator (e.g., ArduPilot SITL)

▶️ How to Run

1. Set up SITL simulation with ArduPilot.
2. Launch battery_gps_node.py.
3. Run mission_control_node.py with a target GPS position.
4. Watch the drone move to the target and land when battery is low.

🎥 Results

You can find a video demonstration of the full system inside this repository 👉 Click here to find the video — feel free to check it out and see the project in action!