Main/99 Work/0 OneSec/OneSecNotes/10 Projects/TableFinder/Run Tablefinder Demo.md

In order to run the tablefinder demo we need the monocopter to be equipped with 2 cameras connected to a cm4. On the cm4 we need the feature/table_finder branch checked out in the OSD-Autopilot repository.

Run Instructions in the Field

1. Prepare drone
   1. Plug in Battery
   2. Connect field computer to the VPN (ZeroTier)
   3. Make sure you can ssh into the drone's cm4
   4. Make sure the LTE-connection is running (true if we can ssh into the drone)
   5. Make sure that the GNSS node is running properly
   6. Make sure that the mavlink-router is running properly
   7. Make sure QGC has the connection to the PX4 Flight controller (should be the case if the mavlink-router is running and if the field-laptop is connected to the VPN)
2. Use VSCode via SSH to get multiple terminals (or use multiple terminal windows)
   1. Terminal 1: ros2 launch osd_autopilot tf2.launch.py
   2. Terminal 2: ros2 launch px4_interface logged_px4_interface.launch.py
3. If Visualization is desired on your field laptop run the following:
   1. ros2 launch px4_visualizer px4_rviz.launch.py which should show a nice visualization of some of the data.

Behaviortree version

The newer versions of the tablefinder demo will implement a behavior tree logic