px4_offboard_control

Installation

1. Before that, you need to install Ubuntu 20.04 and the corresponding ROS Noetic version.
2. mavros:

sudo apt-get install ros-Noetic-mavros ros-Noetic-mavros-extras

3. GeographicLib (opens new window)datasets

wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo bash ./install_geographiclib_datasets.sh   

4. offboard ros pkg.

mkdir -p catkin_ws/src
cd ~/catkin_ws/src
git clone  https://github.com/mengchaoheng/px4_offboard_control.git
cd ~/catkin_ws
catkin_make

Usage

1. Run PX4

cd <PX4 directory>
make px4_sitl gazebo

Or run ductedfan simulations:

make px4_sitl gazebo_ductedfan4

2. Run QGC (Optional).

3. Run mavros:

cd ~/catkin_ws
roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14557"

4. Run offboard node:

cd ~/catkin_ws
roslaunch px4_offboard_control offb_node.launch

You can select different startup methods on the first line of the offb_node.launch file:

    <!-- <node name="offb_dataset_node" pkg="px4_offboard_control" type="offb_dataset_node" output="screen"> --> <!-- trajectory from  data-->
    <!-- <node name="offboard_node" pkg="px4_offboard_control" type="offboard_node" output="screen"> --> <!-- to a setpoint-->
    <node name="offb_node" pkg="px4_offboard_control" type="offb_node" output="screen"> <!-- Lissajous-->
     

=============================

Another way:

Run on different computer:

1. On computer which ip is 192.168.3.146, run:

cd <PX4 directory>
make px4_sitl gazebo

(Optional) If run QGC on another computer, you can setup ip in PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink:

# GCS link
mavlink start -x -u $udp_gcs_port_local -r 4000000 -f -t 192.168.3.169  #  IP of QGC, in the same LAN

2. Run QGC, maybe on computer which ip is 192.168.3.169.

3. Run mavros:

roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14557"

(Optional) Or on computer different from the one running px4_sitl, run mavros by:

roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14557"

in which 192.168.3.146 is the ip of running make px4_sitl gazebo, and on that computer, you can setup ip in PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink:

# API/Offboard link
mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote -t 192.168.3.184 #  IP of mavros and offboard node

in which 192.168.3.184 is the ip of running mavros and offboard node. If all running in the same computer, delete -t 192.168.3.184 in mavlink start of API/Offboard link, and then run offboard node.

4.run offboard node in the same computer which running mavros, run offboard node:

roslaunch px4_offboard_control offb_node.launch

PX4 uer_guide:

Or just like PX4 uer_guide:

1. PX4 v1.14

cd <PX4-Autopilot_clone>
DONT_RUN=1 make px4_sitl_default gazebo-classic
source ~/catkin_ws/devel/setup.bash    # (optional)
source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/simulation/gazebo-classic/sitl_gazebo-classic

roslaunch px4 posix_sitl.launch

2. mavros

roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14557"

3. Offboard node

roslaunch px4_offboard_control offb_node.launch