ROS Index
|
px4_offboard_lowlevel package from px4_offboard_lowlevel repopx4_offboard_lowlevel |
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD 3-Clause License |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/saxionmechatronics/px4_offboard_lowlevel.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-06-18 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Ayham Alharbat
Authors
PX4 Low Level Offboard Control using ROS 2
This package is an example of how to control a PX4 Multi-rotor Vehicle in offboard mode with Low-level commands through ROS 2.
By Low-level commands, we mean that the commands that are sent to PX4 are either:
-
Attitude Setpoints (Collective Thrust + Attitude),
-
Direct Actuator commands (throttles of the motors).
You can switch between the different control modes using ROS 2 parameter.
This videos below shows a simulated quadrotor controlled with this package with Direct Actuator commands.
Contents
Package Setup
Guide on the installation of the low level controller package and its dependencies.
Explanation
Explanation of the controller node and where you can implement your own controller.
Simulation Demo
Instructions to run the demo using the included circle trajector generator.
Acknowledgments
This work from the SMART research group in Saxion University of Applied Sciences was supported in part by:
- Regioorgaan SIA under project RAAK-PRO MARS4EARTH (RAAK.PRO03.112):
- Horizon Europe CSA under project: AeroSTREAM (Grant Agreement number: 101071270).
This package was inspired by many open-source package form the PX4 Community, so would like to thank all the contributors of this great community.
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| rclcpp | |
| std_msgs | |
| dynamic_reconfigure | |
| tf2 | |
| tf2_ros | |
| px4_msgs | |
| ament_cmake | |
| ament_cmake_python | |
| ament_lint_auto | |
| ament_lint_common |