diff --git a/README.md b/README.md index 2866766..be48fff 100644 --- a/README.md +++ b/README.md @@ -42,7 +42,7 @@ For more detailed instructions and guidance, please refer to the dedicated **REA ### Environment Setup -For detailed environment and Docker setup instructions, see the [docs/README.md](docs/setup.md) guide. +For detailed environment setup instructions, see the [docs/setup.md](docs/setup.md) guide. Please complete this step before you proceed. ### Control Pipelines diff --git a/docs/assets/X500.png b/docs/assets/X500.png deleted file mode 100644 index f0b9d9c..0000000 Binary files a/docs/assets/X500.png and /dev/null differ diff --git a/docs/assets/gz_world_with_x500.png b/docs/assets/gz_world_with_x500.png index 8c4751f..5930e8f 100644 Binary files a/docs/assets/gz_world_with_x500.png and b/docs/assets/gz_world_with_x500.png differ diff --git a/docs/prerequisites.md b/docs/prerequisites.md deleted file mode 100644 index ddc89e7..0000000 --- a/docs/prerequisites.md +++ /dev/null @@ -1,97 +0,0 @@ -# Prerequisites installation - -## System setup on WSL2 - -On W11 WSL2 you can either install Docker desktop on W11 or docker engine directly on WSL, these instructions follow the second approach. - -1. **Install Ubuntu 24.04 on WSL2**. Follow the [official instructions](https://learn.microsoft.com/en-us/windows/wsl/install) to install Ubuntu 24.04 on W11 WSL2. - - ```sh - wsl.exe --install Ubuntu-24.04 - ``` - -2. **Install docker engine on Ubuntu-24.04**. Docker engine installation instructions are the same for WSL 2 and native Ubuntu. Please got to the instructions for Ubuntu host. - -## System setup on Ubuntu - -1. **Install docker engine on Ubuntu-24.04**. - - 1. Install using the `apt` repository - - ```sh - # Add Docker's official GPG key: - sudo apt-get update - sudo apt-get install ca-certificates curl - sudo install -m 0755 -d /etc/apt/keyrings - sudo curl -fsSL https://download.docker.com/linux/ubuntu/gpg -o /etc/apt/keyrings/docker.asc - sudo chmod a+r /etc/apt/keyrings/docker.asc - - # Add the repository to Apt sources: - echo \ - "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu \ - $(. /etc/os-release && echo "${UBUNTU_CODENAME:-$VERSION_CODENAME}") stable" | \ - sudo tee /etc/apt/sources.list.d/docker.list > /dev/null - sudo apt-get update - sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin - ``` - - 2. Verify the installation - - ```sh - sudo docker run hello-world - ``` - - 3. Run docker as non-root user - - ```sh - sudo usermod -aG docker $USER - ``` - - 4. Verify that you can run docker commands without sudo - - ```sh - docker run hello-world - ``` - - For further information regarding docker installation, please refer to the [official documentation](https://docs.docker.com/engine/install/ubuntu/). For the security risks involved in in running docker as non-root user please refer to [Manage Docker as a non-root user](https://docs.docker.com/engine/install/linux-postinstall/#manage-docker-as-a-non-root-user). - -2. **Install QGroundControl**. QGC can either run on the Host and connect to PX4 running in the container or it can directly run in the container. If you plan to run your container in headless mode, then you will need to use the first approach. - - - **Install QGC on the host system**. Please follow the [official instructions](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#ubuntu) to install QGC on Ubuntu. - - 1. Enable serial-port access Add your user to the dialout group so you can talk to USB devices without root. Please note that this is not strictly necessary as QGC will only use UDP connection for the workshop. - - ```sh - sudo usermod -aG dialout "$(id -un)" - ``` - - 2. (Optional) Disable ModemManager On some Ubuntu-based systems, ModemManager can claim serial ports that QGC needs. If you don't use it elsewhere, mask or remove it. - - ```sh - # preferred: stop and mask the service - sudo systemctl mask --now ModemManager.service - - # or, if you’d rather remove the package - sudo apt remove --purge modemmanager - ``` - - 3. On the command prompt, enter: - - ```sh - sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y - sudo apt install libfuse2 -y - sudo apt install libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor-dev -y - ``` - - 4. Now you can download [QGroundControl-x86_64.AppImage](https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl-x86_64.AppImage). - 5. Make the AppImage executable - - ```sh - chmod +x QGroundControl-x86_64.AppImage - ``` - - - **Configure the host to run GQC inside the container**. No extra steps are required. - -## Foxglove client installation - -Simply [download](https://foxglove.dev/download) and install following the instructions Foxglove from the official website. diff --git a/docs/setup.md b/docs/setup.md index 7269e4f..e112ebf 100644 --- a/docs/setup.md +++ b/docs/setup.md @@ -2,110 +2,78 @@ This page will guide you through the installation of the requirements for running the workshop exercises and it will explain how ROS 2, Gazebo and PX4 will interact. -The images contains all the required dependencies for the workshop, in particular: +The three main components are: - [GZ HARMONIC](https://gazebosim.org/docs/harmonic/getstarted/) -- [ROS 2 Humble](https://docs.ros.org/en/humble/index.html) -- [PX4](https://github.com/PX4/PX4-Autopilot) v1.16.0 simulator +- [ROS 2 Jazzy](https://docs.ros.org/en/jazzy/index.html) +- [PX4](https://github.com/PX4/PX4-Autopilot) v1.18.0 simulator -To further simplify working in the container, VSCode [devcontainers](https://code.visualstudio.com/docs/devcontainers/containers) are provided. +In addition to them, two extra components are required for visualization and remote control: -## Prerequisites - -All the instructions and all the provided scripts have been tested on Ubuntu 22.04, Ubuntu 24.04 and WSL2. -Docker development in macOS is not supported. - -- **Docker**. The easiest way to start using and testing the ROS 2 packages made for this workshop is through the available AMD64 and ARM64 [Docker](https://www.docker.com/) containers. -For this reason, the rest of the document will assume that Docker is used. - **QGroundControl**. [GQC](https://qgroundcontrol.com/) provides intuitive operator control of PX4 drones, it lets you configure PX4, calibrate the drone sensors and plan mission. QGC is already installed in the Docker images. However, it requires GUI to enabled for the container. If this is not possible (currently for MAC) then QGC will have to be installed on the host system. - **Foxglove**. [Foxglove](https://foxglove.dev/download) will make visualizing the drone state and perceived environment a more user friendly way. -Prerequisites installation instructions are available in [docs/prerequisites.md](./prerequisites.md). - -Once Docker is installed you can verify the installation by pulling the latest workshop docker image: - -```sh -docker pull dronecode/roscon-25-workshop:latest -``` - -## Container structure - -- Most of the required ROS 2 packages are installed through the available binaries: - - [GZ HARMONIC](https://gazebosim.org/docs/harmonic/getstarted/) - - [ROS 2 Humble](https://docs.ros.org/en/humble/index.html) -- Those packages that cannot be installed through binaries and that are dependencies for the main workshop exercise packages are source installed in `/home/ubuntu/px4_ros_ws/install`: - - - [Micro-XRCE-DDS-Agent](https://github.com/eProsima/Micro-XRCE-DDS-Agent) version 2.4.2 - - [PX4 msgs](https://github.com/PX4/px4_msgs) version 1.16 - - [PX4 ROS 2 Interface Library](https://github.com/Auterion/px4-ros2-interface-lib) - - `ros_gz` - - Because one of the workshop exercises depends on OpenCV 4.10, `OpenCV`, `ros-humble-vision-opencv` and `ros-humble-image-common` are source installed too. +## Prerequisites -- [PX4 v1.16.0](https://px4.io/) simulator and its supported GZ Harmonic models and worlds. -- [GGroundControl](https://qgroundcontrol.com/) v5.0.8 +All the instructions and all the provided scripts have been tested on Ubuntu 24.04. ### PX4 SITL -The docker image contains the binaries for running PX4 on linux, to interface it with Gazebo and all Gazebo models and worlds that support PX4. -The binaries are compiled in specific layer and to reduce the container size, only the final executables are copied in the final image. - -- The binaries for PX4 are located in `/home/ubuntu/px4_sitl` -- The PX4 compatible GZ worlds and models are instead located in `/home/ubuntu/PX4-gazebo-models/` +Refer to [PX4 Gazebo SITL documentation](https://docs.px4.io/main/en/sim_gazebo_gz/) to clone PX4 repo, install the PX4 build dependencies, build the project and start a Gazebo Simulation. -Please refer to [docs/customize_px4.md](./customize_px4.md) to know how to use a custom version of PX4. +**note**: PX4 Gazebo simulation with cameras you might encounter a memory leak due caused by the PX4 gstreamer plugin. +See https://github.com/PX4/PX4-Autopilot/issues/27296 +Disable the plugin if you see it happening. ### QGroundControl -QGC v5.0.8 Linux Appimage is added and then extracted during the compilation of the docker AMD64 image. -If you're running on AMD64 with GUI, then you can open QGC directly from inside the container. - -If instead you're running without GUI, then you will have to connect PX4 to a QGC instance running on the _host_. - -## How to start the simulation - -There are two ways to start and interact w through VSCode DevContainers or with pure Docker commands. - -### Starting the container with pure Docker commands - -This mode does not require VSCode. -On the other hand it is slightly less user friendly as you'll have to open multiple terminals inside the container. +Download QGC -You can use +### ROS 2 workspace setup -```sh -./docker/docker_run.sh -``` - -The script will: - -- Start the container giving it the name _px4-roscon-25_ and attach a shell to it. -- Forward port `8765` to simplify Foxglove client connection. -- Mount the repository in `/home/ubuntu/roscon-25-workshop_ws/src/roscon-25-workshop` -- Forward X11 to run GUI applications (GZ client, QGC) from inside the container. - -You can use also use two options: +1. Create a ROS 2 workspace + + ```bash + mkdir -p ~/workspaces/px4_roscon26_ws/src + cd ~/workspaces/px4_roscon26_ws/src + git clone -b develop git@github.com:Dronecode/roscon-25-workshop.git + ``` -- `--no-gui` to disable GUI in the container. -This option also forwards port `18570` to allow external (Host) QGC connection. -- `--nvidia` to run the container with the `nvidia` runtime (it requires the [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html) installed on the host). +1. Install ROS 2 Jazzy: https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html. +Pick `ros-jazzy-desktop`. +1. Install the ROS 2 developer tools -When using this method you can attach new shell to your container by running + ```bash + sudo apt install ros-dev-tools + ``` -```sh -docker exec -it px4-roscon-25 bash -``` +1. Clone the dependencies + + ```bash + cd ~/workspaces/px4_roscon26_ws + vcs import src < ./src/roscon-25-workshop/jazzy.repos + ``` -From now-on, all commands are assumed to be run from a terminal inside the container unless otherwise specified. +1. Install dependencies + + ```bash + cd ~/workspaces/px4_roscon26_ws + source /opt/ros/jazzy/setup.bash + rosdep install -i --from-paths src --skip-keys OpenCV + ``` -### Starting the container through VSCode DevContainers +1. Build the workspace + + ```bash + cd ~/workspaces/px4_roscon26_ws + source /opt/ros/jazzy/setup.bash + colcon build --symlink-install + ``` -To use the DevContainers, simply open the workshop repo in VSCode, then type `CTRL+SHIFT+P` and select `Dev Containers: Reopen in container`. -Finally, select the devcontainer of your choice. -VSCode will automatically reopen inside the running container. +## How to start the simulation ### Starting the PX4-GZ simulation @@ -114,136 +82,24 @@ This means that PX4 can control any GZ model as long as the model uses the requi For this workshop we will use the x500 quadrotor model. -![X500](./assets/X500.png) - -The PX4 Gazebo worlds and models are available in the `/home/ubuntu/PX4-gazebo-models` container directory. -From there you can start a GZ simulation with a PX4 compatible world: +Change folder to where PX4 was cloned and run ```sh -python3 /home/ubuntu/PX4-gazebo-models/simulation-gazebo --model_store /home/ubuntu/PX4-gazebo-models/ --world default +make px4_sitl gz_x500 ``` -- If you want to run the gz server in headless mode, add the option `--headless`. -- If you want to change the world, then change the argument of `--world`. - -Note that `--headless` is mandatory when running without GUI. - -The expected output when GUI is enabled is - -```sh -ubuntu@fe14532c7704:~$ python3 /home/ubuntu/PX4-gazebo-models/simulation-gazebo --model_store /home/ubuntu/PX4-gazebo-models/ -Found: 219 files in /home/ubuntu/PX4-gazebo-models/ -Models directory not empty. Overwrite not set. Not downloading models. -> Launching gazebo simulation... -QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-ubuntu' -[Err] [SystemLoader.cc:92] Failed to load system plugin [libOpticalFlowSystem.so] : Could not find shared library. -[Err] [SystemLoader.cc:92] Failed to load system plugin [libGstCameraSystem.so] : Could not find shared library. -``` - -- Please ignore the error messages about the plugins not found. -- The gazebo client window will open on the empty world. -- No PX4 model will appear. -This is normal as PX4 instance and model will be spawned in a different step. - -![empty GZ world](./assets/empty_gz_world.png) - -Once the GZ server is running, you can spawn the `x500` model and attach a PX4 instance to it with - -```sh -PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4001 PX4_PARAM_UXRCE_DDS_SYNCT=0 /home/ubuntu/px4_sitl/bin/px4 -w /home/ubuntu/px4_sitl/romfs -``` - -The expected output is - -```sh -$ PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4001 PX4_PARAM_UXRCE_DDS_SYNCT=0 /home/ubuntu/px4_sitl/bin/px4 -w /home/ubuntu/px4_sitl/romfs -INFO [px4] assuming working directory is rootfs, no symlinks needed. - -______ __ __ ___ -| ___ \ \ \ / / / | -| |_/ / \ V / / /| | -| __/ / \ / /_| | -| | / /^\ \ \___ | -\_| \/ \/ |_/ - -px4 starting. - -INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0 -env SYS_AUTOSTART: 4001 -INFO [param] selected parameter default file parameters.bson -INFO [param] selected parameter backup file parameters_backup.bson - SYS_AUTOCONFIG: curr: 0 -> new: 1 - SYS_AUTOSTART: curr: 0 -> new: 4001 - CAL_ACC0_ID: curr: 0 -> new: 1310988 - CAL_GYRO0_ID: curr: 0 -> new: 1310988 - CAL_ACC1_ID: curr: 0 -> new: 1310996 - CAL_GYRO1_ID: curr: 0 -> new: 1310996 - CAL_ACC2_ID: curr: 0 -> new: 1311004 - CAL_GYRO2_ID: curr: 0 -> new: 1311004 - CAL_MAG0_ID: curr: 0 -> new: 197388 - CAL_MAG0_PRIO: curr: -1 -> new: 50 - CAL_MAG1_ID: curr: 0 -> new: 197644 - CAL_MAG1_PRIO: curr: -1 -> new: 50 - SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000 - SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010 - UXRCE_DDS_SYNCT: curr: 1 -> new: 0 -INFO [dataman] data manager file './dataman' size is 1208528 bytes -INFO [init] Gazebo simulator -INFO [init] Standalone PX4 launch, waiting for Gazebo -INFO [init] Gazebo world is ready -INFO [init] Spawning model -INFO [gz_bridge] world: default, model: x500_0 -INFO [lockstep_scheduler] setting initial absolute time to 2324000 us -INFO [commander] LED: open /dev/led0 failed (22) -WARN [health_and_arming_checks] Preflight Fail: ekf2 missing data -WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station -INFO [uxrce_dds_client] init UDP agent IP:127.0.0.1, port:8888 -INFO [tone_alarm] home set -INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550 -INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540 -INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030 -INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280 -INFO [logger] logger started (mode=all) -INFO [logger] Start file log (type: full) -INFO [logger] [logger] ./log/2025-08-09/11_56_59.ulg -INFO [logger] Opened full log file: ./log/2025-08-09/11_56_59.ulg -INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network) -INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network) -INFO [px4] Startup script returned successfully -pxh> WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station -WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station -``` - -Let's analyze this command: - -- `PX4_GZ_STANDALONE=1` tells the PX4 startup script that it will need to connect to an already running GZ server. -- `PX4_SYS_AUTOSTART=4001` tells the PX4 startup script that it has to use the `4001` _airframe_. -This airframe is defined in the [PX4 simulated airframes](https://github.com/PX4/PX4-Autopilot/tree/v1.16.0/ROMFS/px4fmu_common/init.d-posix/airframes) folder and is bound to the `x500` model. -Because not explicit model name was given, PX4 will insert the model in the GZ world. -An explicit mentioning of the model name would have made PX4 to simply connect to an already spawned model. -- `PX4_PARAM_UXRCE_DDS_SYNCT=0` disabled the [time synchronization](https://docs.px4.io/v1.16/en/ros2/user_guide#ros-gazebo-and-px4-time-synchronization) feature between ROS 2 and PX4. -Synchronization is not needed as Gazebo will control the clock for both PX4 and ROS 2. - -The complete documentation for running PX4 simulation in Gazebo is part of [PX4 documentation](https://docs.px4.io/main/en/sim_gazebo_gz/). +The Gazebo GUI window will open ![GZ world with x500 spawned](./assets/gz_world_with_x500.png) Before taking off you just need to connect QGC to your simulated drone. -If you started you container with the GUI, then you can simply run + +Simply start QGC, open a terminal into the folder where you downloaded it and run ```sh -/home/ubuntu/QGroundControl/qgroundcontrol +./QGroundControl-x86_64.AppImage ``` -If instead you don't have GUI in your container, then you can still run QGC on the host and attach it to the simulated PX4 instance. - -To do so, first [install QGC](https://docs.qgroundcontrol.com/Stable_V5.0/en/qgc-user-guide/getting_started/download_and_install.html), then start it and create a custom UDP connection link by setting the server ip to `127.0.0.1` and the port to `18570`. - -![QGC lin](./assets/qgc_custom_udp_connection.png) - -The no-gui container automatically exposed the udp port `18570` to the host. -The GUI-enable container does not expose the port so this method won't for it. - On the PX4 terminal you will see the message ```sh @@ -253,6 +109,8 @@ INFO [commander] Ready for takeoff! This is all you need to do to start the GZ + PX4 simulation, you can now takeoff! +## TO-DO: update everything below this point + ## Next step (optional) - Link the simulation to ROS 2 With the simulation up an running, it is time to bridge ROS 2 with Gazebo and PX4. @@ -298,30 +156,7 @@ The messages in the topics with namespace `/fmu/in` are sent from ROS 2 to PX4 w For example, you can check the PX4 vehicle status with ```sh -ros2 topic echo /fmu/out/vehicle_status_v1 -``` - -You can also try the `sensor_combined_listener` node from the [px4_ros_com](https://github.com/PX4/px4_ros_com) package and get a user friendly visualization of PX4 accelerometer and gyroscope data: - -```sh -ros2 run px4_ros_com sensor_combined_listener --ros-args -p use_sim_time:=true -``` - -It will output something like: - -```sh -RECEIVED SENSOR COMBINED DATA -============================= -ts: 93380000 -gyro_rad[0]: -0.000287732 -gyro_rad[1]: -0.000181083 -gyro_rad[2]: -0.00105683 -gyro_integral_dt: 4000 -accelerometer_timestamp_relative: 0 -accelerometer_m_s2[0]: -0.00764366 -accelerometer_m_s2[1]: 6.15756e-05 -accelerometer_m_s2[2]: -9.79929 -accelerometer_integral_dt: 4000 +ros2 topic echo /fmu/out/vehicle_status_v4 ``` ### Foxglove visualization @@ -345,24 +180,3 @@ Launch your Foxglove client and open a connection of type _Foxglove WebSocket_ w ![foxglove example](./assets/foxglove.png) **Note:** when restarting the simulations and the foxglove_bridge, you might have to restart Foxglove client too to re-establish the connection. - -### Recompiling the ROS 2 workspace - -To recompile the ROS 2 workspace - -```sh -cd ~/roscon-25-workshop_ws/ -source source ~/px4_ros_ws/install/setup.bash -colcon build --symlink-install -``` - -## Troubleshooting - -### T1: Gazebo GUI not showing - -A1: Make sure you're running the container with GPU support. - -### T2: on WSL2 I'm getting `docker: Error response from daemon: error gathering device information while adding custom device "/dev/dri": no such file or directory` - -A2: Only `./docker/docker_run.sh --nvidia` combined with NVIDIA Container Toolkit works out of the box on WSL2. -If you don't have nvidia drivers or NVIDIA Container Toolkit installed on WSL2 you can run it headless `./docker/docker_run.sh --no-gui` or you can try removing `DOCKER_CMD="$DOCKER_CMD --device /dev/dri:/dev/dri"` from `./docker/docker_run.sh`. diff --git a/foxglove/roscon-25-workshop.json b/foxglove/px4_roscon_workshop.json similarity index 100% rename from foxglove/roscon-25-workshop.json rename to foxglove/px4_roscon_workshop.json diff --git a/jazzy.repos b/jazzy.repos new file mode 100644 index 0000000..b44aeaa --- /dev/null +++ b/jazzy.repos @@ -0,0 +1,13 @@ +repositories: + Micro-XRCE-DDS-Agent: + type: git + url: https://github.com/eProsima/Micro-XRCE-DDS-Agent.git + version: 73622810d984349b80bbac0ef55fc0b694d62222 + px4-ros2-interface-lib: + type: git + url: https://github.com/Auterion/px4-ros2-interface-lib.git + version: release/1.18 + px4_msgs: + type: git + url: https://github.com/PX4/px4_msgs.git + version: release/1.18 diff --git a/px4_roscon_workshop/aruco_tracker/ArucoTracker.cpp b/px4_roscon_workshop/aruco_tracker/ArucoTracker.cpp index 5fb7905..6966fb0 100644 --- a/px4_roscon_workshop/aruco_tracker/ArucoTracker.cpp +++ b/px4_roscon_workshop/aruco_tracker/ArucoTracker.cpp @@ -3,6 +3,9 @@ // ============================================================================ #include "ArucoTracker.hpp" #include +#include +#include +#include ArucoTrackerNode::ArucoTrackerNode() : Node("aruco_tracker_node") @@ -11,12 +14,10 @@ ArucoTrackerNode::ArucoTrackerNode() // TODO: params to adjust detector params // See: https://docs.opencv.org/4.x/d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html - auto detectorParams = cv::aruco::DetectorParameters(); + _detector_params = cv::aruco::DetectorParameters::create(); // See: https://docs.opencv.org/4.x/d1/d21/aruco__dictionary_8hpp.html - auto dictionary = cv::aruco::getPredefinedDictionary(_param_dictionary); - - _detector = std::make_unique(dictionary, detectorParams); + _dictionary = cv::aruco::getPredefinedDictionary(_param_dictionary); auto qos = rclcpp::QoS(1).best_effort(); @@ -51,7 +52,7 @@ void ArucoTrackerNode::image_callback(const sensor_msgs::msg::Image::SharedPtr m // Detect markers std::vector ids; std::vector> corners; - _detector->detectMarkers(cv_ptr->image, corners, ids); + cv::aruco::detectMarkers(cv_ptr->image, _dictionary, corners, ids, _detector_params); cv::aruco::drawDetectedMarkers(cv_ptr->image, corners, ids); if (!_camera_matrix.empty() && !_dist_coeffs.empty()) { @@ -87,7 +88,13 @@ void ArucoTrackerNode::image_callback(const sensor_msgs::msg::Image::SharedPtr m // Quaternion from rotation matrix cv::Mat rot_mat; cv::Rodrigues(rvec, rot_mat); - cv::Quatd quat = cv::Quatd::createFromRotMat(rot_mat).normalize(); + tf2::Matrix3x3 tf_rotation( + rot_mat.at(0, 0), rot_mat.at(0, 1), rot_mat.at(0, 2), + rot_mat.at(1, 0), rot_mat.at(1, 1), rot_mat.at(1, 2), + rot_mat.at(2, 0), rot_mat.at(2, 1), rot_mat.at(2, 2)); + tf2::Quaternion quat; + tf_rotation.getRotation(quat); + quat.normalize(); // Publish target pose geometry_msgs::msg::PoseStamped pose_msg; @@ -96,10 +103,7 @@ void ArucoTrackerNode::image_callback(const sensor_msgs::msg::Image::SharedPtr m pose_msg.pose.position.x = tvec[0]; pose_msg.pose.position.y = tvec[1]; pose_msg.pose.position.z = tvec[2]; - pose_msg.pose.orientation.x = quat.x; - pose_msg.pose.orientation.y = quat.y; - pose_msg.pose.orientation.z = quat.z; - pose_msg.pose.orientation.w = quat.w; + pose_msg.pose.orientation = tf2::toMsg(quat); _target_pose_pub->publish(pose_msg); diff --git a/px4_roscon_workshop/aruco_tracker/ArucoTracker.hpp b/px4_roscon_workshop/aruco_tracker/ArucoTracker.hpp index df2602d..8346d41 100644 --- a/px4_roscon_workshop/aruco_tracker/ArucoTracker.hpp +++ b/px4_roscon_workshop/aruco_tracker/ArucoTracker.hpp @@ -6,10 +6,9 @@ #include #include #include -#include +#include #include #include -#include #include class ArucoTrackerNode : public rclcpp::Node @@ -29,7 +28,8 @@ class ArucoTrackerNode : public rclcpp::Node rclcpp::Publisher::SharedPtr _image_pub; rclcpp::Publisher::SharedPtr _target_pose_pub; - std::unique_ptr _detector; + cv::Ptr _dictionary; + cv::Ptr _detector_params; cv::Mat _camera_matrix; cv::Mat _dist_coeffs; diff --git a/px4_roscon_workshop/aruco_tracker/CMakeLists.txt b/px4_roscon_workshop/aruco_tracker/CMakeLists.txt index 2e5a0f0..08eeae0 100644 --- a/px4_roscon_workshop/aruco_tracker/CMakeLists.txt +++ b/px4_roscon_workshop/aruco_tracker/CMakeLists.txt @@ -7,6 +7,8 @@ find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_geometry_msgs REQUIRED) find_package(px4_msgs REQUIRED) find_package(sensor_msgs REQUIRED) @@ -26,7 +28,7 @@ add_executable(aruco_tracker ArucoTracker.cpp) target_link_libraries(aruco_tracker ${OpenCV_LIBS}) -ament_target_dependencies(aruco_tracker Eigen3 rclcpp px4_msgs sensor_msgs cv_bridge OpenCV) +ament_target_dependencies(aruco_tracker Eigen3 rclcpp tf2 tf2_geometry_msgs px4_msgs sensor_msgs cv_bridge OpenCV) target_compile_features(aruco_tracker PUBLIC c_std_99 cxx_std_17) diff --git a/px4_roscon_workshop/aruco_tracker/README.md b/px4_roscon_workshop/aruco_tracker/README.md index 6a3580a..cb031cb 100644 --- a/px4_roscon_workshop/aruco_tracker/README.md +++ b/px4_roscon_workshop/aruco_tracker/README.md @@ -12,22 +12,7 @@ https://docs.opencv.org/4.x/d5/dae/tutorial_aruco_detection.html After starting the container, we will start Gazebo loading the [`aruco`](https://github.com/PX4/PX4-gazebo-models/blob/e05f4312d3f28aa621157610584a4870406cb6d3/worlds/aruco.sdf) world: ```sh -python3 /home/ubuntu/PX4-gazebo-models/simulation-gazebo --model_store /home/ubuntu/PX4-gazebo-models/ --world aruco -``` - -Then we spawn the drone and connect PX4 to it. - -```sh -PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4014 PX4_PARAM_UXRCE_DDS_SYNCT=0 /home/ubuntu/px4_sitl/bin/px4 -w /home/ubuntu/px4_sitl/romfs -``` - -Here we used `PX4_SYS_AUTOSTART=4014` which set the Gazebo model to [x500_mono_came_down](https://github.com/PX4/PX4-gazebo-models/tree/e05f4312d3f28aa621157610584a4870406cb6d3/models/x500_mono_cam_down). -Don't forget to start QGC too. - -When the simulation is running you can see the GZ topics: - -```sh -gz topic -l +make px4_sitl gz_x500_mono_cam_down_aruco ``` You can now launch the [common](../px4_roscon_workshop/README.md) launchfile diff --git a/px4_roscon_workshop/aruco_tracker/cfg/bridge.yaml b/px4_roscon_workshop/aruco_tracker/cfg/bridge.yaml index cab1194..2d68816 100644 --- a/px4_roscon_workshop/aruco_tracker/cfg/bridge.yaml +++ b/px4_roscon_workshop/aruco_tracker/cfg/bridge.yaml @@ -1,5 +1,5 @@ - ros_topic_name: "/camera_info" - gz_topic_name: "/world/{world_name}/model/{model_name}/link/camera_link/sensor/imager/camera_info" + gz_topic_name: "/world/{world_name}/model/{model_name}/link/camera_link/sensor/camera/camera_info" ros_type_name: "sensor_msgs/msg/CameraInfo" gz_type_name: "gz.msgs.CameraInfo" direction: "GZ_TO_ROS" \ No newline at end of file diff --git a/px4_roscon_workshop/aruco_tracker/launch/aruco_tracker.launch.py b/px4_roscon_workshop/aruco_tracker/launch/aruco_tracker.launch.py index 65ff484..23b5b74 100644 --- a/px4_roscon_workshop/aruco_tracker/launch/aruco_tracker.launch.py +++ b/px4_roscon_workshop/aruco_tracker/launch/aruco_tracker.launch.py @@ -16,8 +16,8 @@ def launch_setup(context, *args, **kwargs): world_name = LaunchConfiguration("world_name").perform(context) model_name = LaunchConfiguration("model_name").perform(context) - camera_topic = f"/world/{world_name}/model/{model_name}/link/camera_link/sensor/imager/image" - camera_info_topic = f"/world/{world_name}/model/{model_name}/link/camera_link/sensor/imager/camera_info" + camera_topic = f"/world/{world_name}/model/{model_name}/link/camera_link/sensor/camera/image" + camera_info_topic = f"/world/{world_name}/model/{model_name}/link/camera_link/sensor/camera/camera_info" pkg_share = FindPackageShare("aruco_tracker").find("aruco_tracker") @@ -98,7 +98,7 @@ def launch_setup(context, *args, **kwargs): ComposableNode( package='tf2_ros', plugin='tf2_ros::StaticTransformBroadcasterNode', - name='camera_to_camera_frame_broadcaster', + name='camera_to_camera_link_broadcaster', parameters=[{ 'use_sim_time': True, 'translation.x': 0.0, @@ -109,7 +109,7 @@ def launch_setup(context, *args, **kwargs): 'rotation.z': 0.0, 'rotation.w': 10.0, 'frame_id': 'x500_mono_cam_down_0/camera_link/imager', - 'child_frame_id': 'camera_frame' + 'child_frame_id': 'camera_link' }] ), ] diff --git a/px4_roscon_workshop/aruco_tracker/package.xml b/px4_roscon_workshop/aruco_tracker/package.xml index 80b5957..0ee54a4 100644 --- a/px4_roscon_workshop/aruco_tracker/package.xml +++ b/px4_roscon_workshop/aruco_tracker/package.xml @@ -24,6 +24,8 @@ geometry_msgs cv_bridge OpenCV + tf2 + tf2_geometry_msgs tf2_ros ros_gz_bridge diff --git a/px4_roscon_workshop/custom_mode_demo/CustomModeExecutor.cpp b/px4_roscon_workshop/custom_mode_demo/CustomModeExecutor.cpp index b821542..d7fc07c 100644 --- a/px4_roscon_workshop/custom_mode_demo/CustomModeExecutor.cpp +++ b/px4_roscon_workshop/custom_mode_demo/CustomModeExecutor.cpp @@ -8,11 +8,11 @@ using CustomModeWithExecutor = px4_ros2::NodeWithModeExecutor(state), static_cast(previous_result)); } - RCLCPP_INFO(_node.get_logger(), "Switched to state: %d", static_cast(state)); + RCLCPP_INFO(node().get_logger(), "Switched to state: %d", static_cast(state)); // Handle state-specific logic here switch (state) { case State::Takeoff: - RCLCPP_INFO(_node.get_logger(), "Initiating takeoff..."); + RCLCPP_INFO(node().get_logger(), "Initiating takeoff..."); takeoff( [this](px4_ros2::Result result) { switchToState(State::CustomWaypoints, result); @@ -62,7 +62,7 @@ void CustomModeExecutor::switchToState(State state, px4_ros2::Result previous_re break; case State::WaitUntilDisarmed: waitUntilDisarmed([this](px4_ros2::Result result) { - RCLCPP_INFO(_node.get_logger(), "All states complete (%s)", resultToString(result)); + RCLCPP_INFO(node().get_logger(), "All states complete (%s)", resultToString(result)); }); break; } @@ -85,11 +85,11 @@ int main(int argc, char *argv[]) { // static const std::string kNodeName = "CustomModeDemo"; // static const bool kEnableDebugOutput = true; -// CustomModeExecutor::CustomModeExecutor(rclcpp::Node &node, px4_ros2::ModeBase &owned_mode, px4_ros2::ModeBase &second_mode, px4_ros2::ModeBase &third_mode) -// : ModeExecutorBase(node, Settings{}, owned_mode), _node(node), _second_mode(second_mode), _third_mode(third_mode) {} +// CustomModeExecutor::CustomModeExecutor(px4_ros2::ModeBase &owned_mode, px4_ros2::ModeBase &second_mode, px4_ros2::ModeBase &third_mode) +// : ModeExecutorBase(Settings{}, owned_mode), _second_mode(second_mode), _third_mode(third_mode) {} // void CustomModeExecutor::onActivate() { -// RCLCPP_INFO(_node.get_logger(), "CustomModeExecutor activated"); +// RCLCPP_INFO(node().get_logger(), "CustomModeExecutor activated"); // switchToState(State::Takeoff, px4_ros2::Result::Success); // } @@ -97,23 +97,23 @@ int main(int argc, char *argv[]) { // const char *reason_str = (reason == DeactivateReason::FailsafeActivated) // ? "failsafe activated" // : "other reason"; -// RCLCPP_INFO(_node.get_logger(), "CustomModeExecutor deactivated: %s", reason_str); +// RCLCPP_INFO(node().get_logger(), "CustomModeExecutor deactivated: %s", reason_str); // } // void CustomModeExecutor::switchToState(State state, px4_ros2::Result previous_result) { // _state = state; // if (previous_result != px4_ros2::Result::Success) { -// RCLCPP_WARN(_node.get_logger(), +// RCLCPP_WARN(node().get_logger(), // "Switching to state %d due to previous result: %d", // static_cast(state), static_cast(previous_result)); // } -// RCLCPP_INFO(_node.get_logger(), "Switched to state: %d", static_cast(state)); +// RCLCPP_INFO(node().get_logger(), "Switched to state: %d", static_cast(state)); // // Handle state-specific logic here // switch (state) { // case State::Takeoff: -// RCLCPP_INFO(_node.get_logger(), "Initiating takeoff..."); +// RCLCPP_INFO(node().get_logger(), "Initiating takeoff..."); // takeoff( // [this](px4_ros2::Result result) { // switchToState(State::CustomWaypoints, result); @@ -145,7 +145,7 @@ int main(int argc, char *argv[]) { // break; // case State::WaitUntilDisarmed: // waitUntilDisarmed([this](px4_ros2::Result result) { -// RCLCPP_INFO(_node.get_logger(), "All states complete (%s)", resultToString(result)); +// RCLCPP_INFO(node().get_logger(), "All states complete (%s)", resultToString(result)); // }); // break; // } diff --git a/px4_roscon_workshop/custom_mode_demo/CustomModeExecutor.hpp b/px4_roscon_workshop/custom_mode_demo/CustomModeExecutor.hpp index 1903508..ae64782 100644 --- a/px4_roscon_workshop/custom_mode_demo/CustomModeExecutor.hpp +++ b/px4_roscon_workshop/custom_mode_demo/CustomModeExecutor.hpp @@ -10,7 +10,7 @@ class CustomModeExecutor : public px4_ros2::ModeExecutorBase { public: - CustomModeExecutor(rclcpp::Node &node, px4_ros2::ModeBase &owned_mode, + CustomModeExecutor(px4_ros2::ModeBase &owned_mode, px4_ros2::ModeBase &second_mode); // See ModeExecutorBase @@ -18,8 +18,6 @@ class CustomModeExecutor : public px4_ros2::ModeExecutorBase { void onDeactivate(DeactivateReason reason) override; private: - // ROS2 - rclcpp::Node &_node; px4_ros2::ModeBase &_second_mode; // State management @@ -45,7 +43,7 @@ class CustomModeExecutor : public px4_ros2::ModeExecutorBase { // class CustomModeExecutor : public px4_ros2::ModeExecutorBase { // public: -// CustomModeExecutor(rclcpp::Node &node, px4_ros2::ModeBase &owned_mode, +// CustomModeExecutor(px4_ros2::ModeBase &owned_mode, // px4_ros2::ModeBase &second_mode, px4_ros2::ModeBase &third_mode); // // See ModeExecutorBase @@ -53,8 +51,6 @@ class CustomModeExecutor : public px4_ros2::ModeExecutorBase { // void onDeactivate(DeactivateReason reason) override; // private: -// // ROS2 -// rclcpp::Node &_node; // px4_ros2::ModeBase &_second_mode; // px4_ros2::ModeBase &_third_mode; diff --git a/px4_roscon_workshop/offboard_demo/CMakeLists.txt b/px4_roscon_workshop/offboard_demo/CMakeLists.txt deleted file mode 100644 index 751b39a..0000000 --- a/px4_roscon_workshop/offboard_demo/CMakeLists.txt +++ /dev/null @@ -1,43 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(offboard_demo) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -find_package(rclcpp REQUIRED) -find_package(px4_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(eigen3_cmake_module REQUIRED) -find_package(Eigen3 REQUIRED) - - -include_directories( - include - ${EIGEN3_INCLUDE_DIR} -) -add_executable(offboard_demo - OffboardDemo.cpp) - - ament_target_dependencies(offboard_demo rclcpp geometry_msgs px4_msgs Eigen3) - target_compile_features(offboard_demo PUBLIC c_std_99 cxx_std_17) - - install(TARGETS offboard_demo DESTINATION lib/${PROJECT_NAME}) - - if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - endif() - - - install(DIRECTORY launch - DESTINATION share/${PROJECT_NAME}/ - ) - - install(DIRECTORY cfg - DESTINATION share/${PROJECT_NAME}/ - ) - -ament_package() \ No newline at end of file diff --git a/px4_roscon_workshop/offboard_demo/OffboardDemo.cpp b/px4_roscon_workshop/offboard_demo/OffboardDemo.cpp deleted file mode 100644 index 9fe0879..0000000 --- a/px4_roscon_workshop/offboard_demo/OffboardDemo.cpp +++ /dev/null @@ -1,738 +0,0 @@ -// ============================================================================ -// ORIGINAL VERSION - OffboardDemo.cpp -// ============================================================================ -#include "OffboardDemo.hpp" - -OffboardDemo::OffboardDemo() - : Node("offboard_demo"), - _state(State::Idle) -{ - _vehicle_command_pub = this->create_publisher("/fmu/in/vehicle_command", 10); - - _vehicle_status_sub = this->create_subscription( - "/fmu/out/vehicle_status_v1", - rclcpp::QoS(1).best_effort(), // Use SensorDataQoS for PX4 compatibility - std::bind(&OffboardDemo::vehicleStatusCallback, this, std::placeholders::_1)); - - _local_position_sub = this->create_subscription( - "fmu/out/vehicle_local_position", - rclcpp::QoS(10).best_effort(), - std::bind(&OffboardDemo::localPositionCallback, this, std::placeholders::_1)); - - _vehicle_land_detected_sub = this->create_subscription("/fmu/out/vehicle_land_detected", - rclcpp::QoS(1).best_effort(), std::bind(&OffboardDemo::vehicleLandDetectedCallback, this, std::placeholders::_1)); - - _trajectory_setpoint_pub = this->create_publisher("/fmu/in/trajectory_setpoint", 10); - _offboard_control_mode_pub = this->create_publisher("/fmu/in/offboard_control_mode", 10); - - _state_start_time = this->now(); - - // Start the offboard timer - _offboard_timer = this->create_wall_timer( - std::chrono::milliseconds(100), // Timer period: 100 ms - std::bind(&OffboardDemo::offboardTimerCallback, this) - ); - - px4_msgs::msg::TrajectorySetpoint sp; - sp.timestamp = this->get_clock()->now().nanoseconds() / 1000; // PX4 expects microseconds - sp.position[0] = NAN; // Setpoint X position in meters - sp.position[1] = NAN; // Setpoint Y position in meters - sp.position[2] = NAN; // Altitude in meters - sp.yaw = NAN; // Yaw in radians - _trajectory_setpoint_pub->publish(sp); - - _trajectory_waypoints.push_back(Eigen::Vector3f(5.0f, 0.0f, -1.5f)); - _trajectory_waypoints.push_back(Eigen::Vector3f(5.0f, 5.0f, -1.5f)); - _trajectory_waypoints.push_back(Eigen::Vector3f(-5.0f, 5.0f, -1.5f)); - _trajectory_waypoints.push_back(Eigen::Vector3f(-5.0f, -5.0f, -1.5f)); - _trajectory_waypoints.push_back(Eigen::Vector3f(5.0f, -5.0f, -1.5f)); - _trajectory_waypoints.push_back(Eigen::Vector3f(5.0f, 0.0f, -1.5f)); - _trajectory_waypoints.push_back(Eigen::Vector3f(0.0f, 0.0f, -1.5f)); - - RCLCPP_INFO(this->get_logger(), "OffboardDemo node initialized."); -} - -void OffboardDemo::vehicleStatusCallback(const px4_msgs::msg::VehicleStatus::SharedPtr msg) -{ - _vehicle_status = *msg; -} - -void OffboardDemo::localPositionCallback(const px4_msgs::msg::VehicleLocalPosition::SharedPtr msg) -{ - _local_position = *msg; -} - -void OffboardDemo::vehicleLandDetectedCallback(const px4_msgs::msg::VehicleLandDetected::SharedPtr msg) -{ - _land_detected = msg->landed; -} - -void OffboardDemo::loadParameters() -{ - // Load parameters -} - -void OffboardDemo::runStateMachine() -{ - switch (_state) - { - case State::Idle: - { - // Check if pre-flight checks have passed and we are in the correct navigation state - if (_vehicle_status.pre_flight_checks_pass)// && _vehicle_status.nav_state == px4_msgs::msg::VehicleStatus::NAVIGATION_STATE_AUTO_LOITER - { - // Switch to offboard after 2 seconds - if (isStateTimeout(2.0)) { - _home_setpoint[0] = _local_position.x; - _home_setpoint[1] = _local_position.y; - _home_setpoint[2] = _local_position.z - 1.5; // Hover at takeoff altitude - _home_setpoint[3] = _local_position.heading; - switchToOffboard(); - _state = State::Arm; - _state_start_time = this->now(); - RCLCPP_INFO(this->get_logger(), "State: Idle -> Arm"); - } - } - - break; - } - - case State::Arm: - { - if (_vehicle_status.nav_state == px4_msgs::msg::VehicleStatus::NAVIGATION_STATE_OFFBOARD) { - arm(); - _state = State::Takeoff; - _state_start_time = this->now(); - RCLCPP_INFO(this->get_logger(), "State: Arm -> Takeoff"); - } - - break; - } - - case State::Takeoff: - { - - if (_vehicle_status.arming_state == px4_msgs::msg::VehicleStatus::ARMING_STATE_ARMED) { - - _state = State::Hover; - _state_start_time = this->now(); - RCLCPP_INFO(this->get_logger(), "State: Takeoff -> Hover"); - } - - break; - } - - case State::Hover: - { - px4_msgs::msg::TrajectorySetpoint sp; - sp.timestamp = this->get_clock()->now().nanoseconds() / 1000; // PX4 expects microseconds - sp.position[0] = _home_setpoint[0]; - sp.position[1] = _home_setpoint[1]; - sp.position[2] = _home_setpoint[2]; - sp.yaw = NAN; - _trajectory_setpoint_pub->publish(sp); - - if (isStateTimeout(10.0)) // Hover for some time - { - RCLCPP_INFO(this->get_logger(), "State: Hover -> Waypoint"); - - _state = State::Waypoint; - } - - break; - } - - case State::Waypoint: - { - // Check if we have reached the current waypoint - if (_current_waypoint_index < _trajectory_waypoints.size()) - { - const auto & waypoint = _trajectory_waypoints[_current_waypoint_index]; - px4_msgs::msg::TrajectorySetpoint sp; - sp.timestamp = this->get_clock()->now().nanoseconds() / 1000; // PX4 expects microseconds - sp.position[0] = waypoint.x(); - sp.position[1] = waypoint.y(); - sp.position[2] = waypoint.z(); - sp.yaw = NAN; // No specific yaw for waypoints - _trajectory_setpoint_pub->publish(sp); - - // Check if we have reached the waypoint (within a small tolerance) - if (std::abs(_local_position.x - waypoint.x()) < 0.1 && - std::abs(_local_position.y - waypoint.y()) < 0.1 && - std::abs(_local_position.z - waypoint.z()) < 0.1) - { - _current_waypoint_index++; - if( _current_waypoint_index < _trajectory_waypoints.size()) - { - RCLCPP_INFO(this->get_logger(), "Moving to next waypoint %zu", _current_waypoint_index); - } - else - { - RCLCPP_INFO(this->get_logger(), "All waypoints reached, returning to home position"); - } - } - } - else - { - // All waypoints reached go home and then switch to Yaw state - px4_msgs::msg::TrajectorySetpoint sp; - sp.timestamp = this->get_clock()->now().nanoseconds() / 1000; // PX4 expects microseconds - sp.position[0] = _home_setpoint[0]; - sp.position[1] = _home_setpoint[1]; - sp.position[2] = _home_setpoint[2]; - sp.yaw = NAN; // No specific yaw for home position - _trajectory_setpoint_pub->publish(sp); - if(std::abs(_local_position.x - _home_setpoint[0]) < 0.1 && - std::abs(_local_position.y - _home_setpoint[1]) < 0.1 && - std::abs(_local_position.z - _home_setpoint[2]) < 0.1) - { - RCLCPP_INFO(this->get_logger(), "All waypoints reached, moving to Yaw state"); - _state = State::Yaw; - _state_start_time = this->now(); - } - - } - - break; - } - - case State::Yaw: - { - // Step size for yaw increment (1 degree per step) - const double yaw_step = M_PI / 180.0; // 1 degree in radians - static double target_yaw = _local_position.heading; // Initialize with current heading - static double total_yaw_rotated = 0.0; // Total yaw rotated - - // Check if the current heading is close enough to the target yaw - if (headingReached(target_yaw)) - { - // Increment the target yaw - target_yaw += yaw_step; - total_yaw_rotated += yaw_step; - - // Wrap target_yaw to keep it within -π to π - if (target_yaw > M_PI) target_yaw -= 2 * M_PI; - if (target_yaw < -M_PI) target_yaw += 2 * M_PI; - - // Publish the new trajectory setpoint - px4_msgs::msg::TrajectorySetpoint sp; - sp.timestamp = this->get_clock()->now().nanoseconds() / 1000; // PX4 expects microseconds - sp.position[0] = _home_setpoint[0]; - sp.position[1] = _home_setpoint[1]; - sp.position[2] = _home_setpoint[2]; - sp.yaw = target_yaw; // Update the yaw target - _trajectory_setpoint_pub->publish(sp); - } - - // Check if the total yaw rotation is complete (360 degrees) - if (total_yaw_rotated >= 2 * M_PI) // Full 360-degree rotation - { - - RCLCPP_INFO(this->get_logger(), "State: Yaw -> Land"); - _state = State::Land; - land(); - - // Reset yaw tracking variables for next use - target_yaw = _local_position.heading; // Reset to current heading - total_yaw_rotated = 0.0; - } - - break; - } - - case State::Land: - { - if (_land_detected) - { - RCLCPP_INFO(this->get_logger(), "State: Land -> Done"); - disarm(); - _state = State::Done; - } - - break; - } - - case State::Done: - { - RCLCPP_INFO(this->get_logger(), "Mission complete."); - break; - } - } // end switch-case -} - -void OffboardDemo::publishVehicleCommand(int command, float param1, float param2, float param3, float param4, - float param5, float param6, float param7) -{ - px4_msgs::msg::VehicleCommand vehicle_command{}; - vehicle_command.timestamp = this->get_clock()->now().nanoseconds() / 1000; // PX4 expects microseconds - vehicle_command.command = command; - vehicle_command.param1 = param1; - vehicle_command.param2 = param2; - vehicle_command.param3 = param3; - vehicle_command.param4 = param4; - vehicle_command.param5 = param5; - vehicle_command.param6 = param6; - vehicle_command.param7 = param7; - vehicle_command.target_system = 1; - vehicle_command.target_component = 1; - vehicle_command.source_system = 1; - vehicle_command.source_component = 1; - vehicle_command.from_external = true; - _vehicle_command_pub->publish(vehicle_command); -} - -void OffboardDemo::offboardTimerCallback() -{ - px4_msgs::msg::OffboardControlMode offboard_control_mode{}; - offboard_control_mode.timestamp = this->get_clock()->now().nanoseconds() / 1000; // PX4 expects microseconds - offboard_control_mode.position = true; - offboard_control_mode.velocity = false; - offboard_control_mode.acceleration = false; - offboard_control_mode.attitude = false; - offboard_control_mode.body_rate = false; - _offboard_control_mode_pub->publish(offboard_control_mode); -} - -void OffboardDemo::arm() -{ - publishVehicleCommand(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 1.0); // Arm -} - -void OffboardDemo::disarm() -{ - publishVehicleCommand(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0); // Disarm -} - -void OffboardDemo::land() -{ - publishVehicleCommand(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_NAV_LAND); // Land -} - -void OffboardDemo::switchToOffboard() -{ - RCLCPP_INFO(this->get_logger(), "Switching to OFFBOARD mode"); - publishVehicleCommand(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_DO_SET_MODE, 1.0, 6.0); // Set mode to offboard -} - -bool OffboardDemo::isStateTimeout(double seconds) -{ - return (this->now() - _state_start_time).seconds() > seconds; -} - -bool OffboardDemo::headingReached(float target_heading) const -{ - const double degrees = 1.0; - const double tolerance = degrees * M_PI / 180.0; // Convert degrees to radians - // Get the current heading - auto current_heading = _local_position.heading; - - // Calculate the angular difference - float delta_heading = target_heading - current_heading; - - // Normalize the angular difference to the range [-π, π] - while (delta_heading > M_PI) delta_heading -= 2 * M_PI; - while (delta_heading < -M_PI) delta_heading += 2 * M_PI; - - // Check if the heading difference is within tolerance - return fabs(delta_heading) < tolerance; -} - -void OffboardDemo::run() -{ - while (rclcpp::ok() && _state != State::Done) - { - rclcpp::spin_some(this->get_node_base_interface()); // Process incoming messages - runStateMachine(); - rclcpp::sleep_for(std::chrono::milliseconds(10)); // Small delay to reduce CPU usage - } -} - -int main(int argc, char *argv[]) -{ - rclcpp::init(argc, argv); - auto node = std::make_shared(); - node->run(); - rclcpp::shutdown(); - return 0; -} -// ============================================================================ -// ALTERNATIVE VERSION - For exercises -// ============================================================================ -// #include "OffboardDemo.hpp" - -// OffboardDemo::OffboardDemo() -// : Node("offboard_demo"), -// _state(State::Idle) -// { -// _vehicle_command_pub = this->create_publisher("/fmu/in/vehicle_command", 10); - -// _vehicle_status_sub = this->create_subscription( -// "/fmu/out/vehicle_status_v1", -// rclcpp::QoS(1).best_effort(), // Use SensorDataQoS for PX4 compatibility -// std::bind(&OffboardDemo::vehicleStatusCallback, this, std::placeholders::_1)); - -// _local_position_sub = this->create_subscription( -// "fmu/out/vehicle_local_position", -// rclcpp::QoS(10).best_effort(), -// std::bind(&OffboardDemo::localPositionCallback, this, std::placeholders::_1)); - -// _vehicle_land_detected_sub = this->create_subscription("/fmu/out/vehicle_land_detected", -// rclcpp::QoS(1).best_effort(), std::bind(&OffboardDemo::vehicleLandDetectedCallback, this, std::placeholders::_1)); - -// _trajectory_setpoint_pub = this->create_publisher("/fmu/in/trajectory_setpoint", 10); -// _offboard_control_mode_pub = this->create_publisher("/fmu/in/offboard_control_mode", 10); - -// _state_start_time = this->now(); - -// // Start the offboard timer -// _offboard_timer = this->create_wall_timer( -// std::chrono::milliseconds(100), // Timer period: 100 ms -// std::bind(&OffboardDemo::offboardTimerCallback, this) -// ); - -// px4_msgs::msg::TrajectorySetpoint sp; -// sp.timestamp = this->get_clock()->now().nanoseconds() / 1000; // PX4 expects microseconds -// sp.position[0] = NAN; // Setpoint X position in meters -// sp.position[1] = NAN; // Setpoint Y position in meters -// sp.position[2] = NAN; // Altitude in meters -// sp.yaw = NAN; // Yaw in radians -// _trajectory_setpoint_pub->publish(sp); - -// _trajectory_waypoints.push_back(Eigen::Vector3f(5.0f, 0.0f, -1.5f)); -// _trajectory_waypoints.push_back(Eigen::Vector3f(5.0f, 5.0f, -1.5f)); -// _trajectory_waypoints.push_back(Eigen::Vector3f(-5.0f, 5.0f, -1.5f)); -// _trajectory_waypoints.push_back(Eigen::Vector3f(-5.0f, -5.0f, -1.5f)); -// _trajectory_waypoints.push_back(Eigen::Vector3f(5.0f, -5.0f, -1.5f)); -// _trajectory_waypoints.push_back(Eigen::Vector3f(5.0f, 0.0f, -1.5f)); -// _trajectory_waypoints.push_back(Eigen::Vector3f(0.0f, 0.0f, -1.5f)); - -// loadParameters(); - -// RCLCPP_INFO(this->get_logger(), "OffboardDemo node initialized."); -// } - -// void OffboardDemo::vehicleStatusCallback(const px4_msgs::msg::VehicleStatus::SharedPtr msg) -// { -// _vehicle_status = *msg; -// } - -// void OffboardDemo::localPositionCallback(const px4_msgs::msg::VehicleLocalPosition::SharedPtr msg) -// { -// _local_position = *msg; -// } - -// void OffboardDemo::vehicleLandDetectedCallback(const px4_msgs::msg::VehicleLandDetected::SharedPtr msg) -// { -// _land_detected = msg->landed; -// } - -// void OffboardDemo::loadParameters() -// { -// this->declare_parameter("takeoff_altitude", 1.5); - -// this->get_parameter("takeoff_altitude", _takeoff_altitude); -// } - -// void OffboardDemo::runStateMachine() -// { -// switch (_state) -// { -// case State::Idle: -// { -// // Check if pre-flight checks have passed and we are in the correct navigation state -// if (_vehicle_status.pre_flight_checks_pass)// && _vehicle_status.nav_state == px4_msgs::msg::VehicleStatus::NAVIGATION_STATE_AUTO_LOITER -// { -// // Switch to offboard after 2 seconds -// if (isStateTimeout(2.0)) { -// _home_setpoint[0] = _local_position.x; -// _home_setpoint[1] = _local_position.y; -// _home_setpoint[2] = _local_position.z - _takeoff_altitude; // Hover at takeoff altitude -// _home_setpoint[3] = _local_position.heading; -// switchToOffboard(); -// _state = State::Arm; -// _state_start_time = this->now(); -// RCLCPP_INFO(this->get_logger(), "State: Idle -> Arm"); -// } -// } - -// break; -// } - -// case State::Arm: -// { -// if (_vehicle_status.nav_state == px4_msgs::msg::VehicleStatus::NAVIGATION_STATE_OFFBOARD) { -// arm(); -// _state = State::Takeoff; -// _state_start_time = this->now(); -// RCLCPP_INFO(this->get_logger(), "State: Arm -> Takeoff"); -// } - -// break; -// } - -// case State::Takeoff: -// { - -// if (_vehicle_status.arming_state == px4_msgs::msg::VehicleStatus::ARMING_STATE_ARMED) { - -// _state = State::Hover; -// _state_start_time = this->now(); -// RCLCPP_INFO(this->get_logger(), "State: Takeoff -> Hover"); -// } - -// break; -// } - -// case State::Hover: -// { -// px4_msgs::msg::TrajectorySetpoint sp; -// sp.timestamp = this->get_clock()->now().nanoseconds() / 1000; // PX4 expects microseconds -// sp.position[0] = _home_setpoint[0]; -// sp.position[1] = _home_setpoint[1]; -// sp.position[2] = _home_setpoint[2]; -// sp.yaw = NAN; -// _trajectory_setpoint_pub->publish(sp); - -// if (isStateTimeout(10.0)) // Hover for some time -// { -// RCLCPP_INFO(this->get_logger(), "State: Hover -> ChangeAltitude"); - -// _state = State::ChangeAltitude; -// } - -// break; -// } - -// case State::ChangeAltitude: -// { -// px4_msgs::msg::TrajectorySetpoint sp; -// sp.timestamp = this->get_clock()->now().nanoseconds() / 1000; // PX4 expects microseconds -// sp.position[0] = _home_setpoint[0]; -// sp.position[1] = _home_setpoint[1]; -// sp.position[2] = -1.5f; // Decrease altitude by 1 meter -// sp.yaw = NAN; -// _trajectory_setpoint_pub->publish(sp); - -// if (std::abs(_local_position.z - (-1.5f)) < 0.1) // Check if altitude reached -// { -// RCLCPP_INFO(this->get_logger(), "State: ChangeAltitude -> Waypoint"); -// _state = State::Waypoint; -// } - -// break; - -// } - -// case State::Waypoint: -// { -// // Check if we have reached the current waypoint -// if (_current_waypoint_index < _trajectory_waypoints.size()) -// { -// const auto & waypoint = _trajectory_waypoints[_current_waypoint_index]; -// px4_msgs::msg::TrajectorySetpoint sp; -// sp.timestamp = this->get_clock()->now().nanoseconds() / 1000; // PX4 expects microseconds -// sp.position[0] = waypoint.x(); -// sp.position[1] = waypoint.y(); -// sp.position[2] = waypoint.z(); -// sp.yaw = NAN; // No specific yaw for waypoints -// _trajectory_setpoint_pub->publish(sp); - -// // Check if we have reached the waypoint (within a small tolerance) -// if (std::abs(_local_position.x - waypoint.x()) < 0.1 && -// std::abs(_local_position.y - waypoint.y()) < 0.1 && -// std::abs(_local_position.z - waypoint.z()) < 0.1) -// { -// _current_waypoint_index++; -// if( _current_waypoint_index < _trajectory_waypoints.size()) -// { -// RCLCPP_INFO(this->get_logger(), "Moving to next waypoint %zu", _current_waypoint_index); -// } -// else -// { -// RCLCPP_INFO(this->get_logger(), "All waypoints reached, returning to home position"); -// } -// } -// } -// else -// { -// // All waypoints reached go home and then switch to Yaw state -// px4_msgs::msg::TrajectorySetpoint sp; -// sp.timestamp = this->get_clock()->now().nanoseconds() / 1000; // PX4 expects microseconds -// sp.position[0] = _home_setpoint[0]; -// sp.position[1] = _home_setpoint[1]; -// sp.position[2] = _home_setpoint[2]; -// sp.yaw = NAN; // No specific yaw for home position -// _trajectory_setpoint_pub->publish(sp); -// if(std::abs(_local_position.x - _home_setpoint[0]) < 0.1 && -// std::abs(_local_position.y - _home_setpoint[1]) < 0.1 && -// std::abs(_local_position.z - _home_setpoint[2]) < 0.1) -// { -// RCLCPP_INFO(this->get_logger(), "All waypoints reached, moving to Yaw state"); -// _state = State::Yaw; -// _state_start_time = this->now(); -// } - -// } - -// break; -// } - -// case State::Yaw: -// { -// // Step size for yaw increment (1 degree per step) -// const double yaw_step = M_PI / 180.0; // 1 degree in radians -// static double target_yaw = _local_position.heading; // Initialize with current heading -// static double total_yaw_rotated = 0.0; // Total yaw rotated - -// // Check if the current heading is close enough to the target yaw -// if (headingReached(target_yaw)) -// { -// // Increment the target yaw -// target_yaw += yaw_step; -// total_yaw_rotated += yaw_step; - -// // Wrap target_yaw to keep it within -π to π -// if (target_yaw > M_PI) target_yaw -= 2 * M_PI; -// if (target_yaw < -M_PI) target_yaw += 2 * M_PI; - -// // Publish the new trajectory setpoint -// px4_msgs::msg::TrajectorySetpoint sp; -// sp.timestamp = this->get_clock()->now().nanoseconds() / 1000; // PX4 expects microseconds -// sp.position[0] = _home_setpoint[0]; -// sp.position[1] = _home_setpoint[1]; -// sp.position[2] = _home_setpoint[2]; -// sp.yaw = target_yaw; // Update the yaw target -// _trajectory_setpoint_pub->publish(sp); -// } - -// // Check if the total yaw rotation is complete (360 degrees) -// if (total_yaw_rotated >= 2 * M_PI) // Full 360-degree rotation -// { - -// RCLCPP_INFO(this->get_logger(), "State: Yaw -> Land"); -// _state = State::Land; -// land(); - -// // Reset yaw tracking variables for next use -// target_yaw = _local_position.heading; // Reset to current heading -// total_yaw_rotated = 0.0; -// } - -// break; -// } - -// case State::Land: -// { -// if (_land_detected) -// { -// RCLCPP_INFO(this->get_logger(), "State: Land -> Done"); -// disarm(); -// _state = State::Done; -// } - -// break; -// } - -// case State::Done: -// { -// RCLCPP_INFO(this->get_logger(), "Mission complete."); -// break; -// } -// } // end switch-case -// } - -// void OffboardDemo::publishVehicleCommand(int command, float param1, float param2, float param3, float param4, -// float param5, float param6, float param7) -// { -// px4_msgs::msg::VehicleCommand vehicle_command{}; -// vehicle_command.timestamp = this->get_clock()->now().nanoseconds() / 1000; // PX4 expects microseconds -// vehicle_command.command = command; -// vehicle_command.param1 = param1; -// vehicle_command.param2 = param2; -// vehicle_command.param3 = param3; -// vehicle_command.param4 = param4; -// vehicle_command.param5 = param5; -// vehicle_command.param6 = param6; -// vehicle_command.param7 = param7; -// vehicle_command.target_system = 1; -// vehicle_command.target_component = 1; -// vehicle_command.source_system = 1; -// vehicle_command.source_component = 1; -// vehicle_command.from_external = true; -// _vehicle_command_pub->publish(vehicle_command); -// } - -// void OffboardDemo::offboardTimerCallback() -// { -// px4_msgs::msg::OffboardControlMode offboard_control_mode{}; -// offboard_control_mode.timestamp = this->get_clock()->now().nanoseconds() / 1000; // PX4 expects microseconds -// offboard_control_mode.position = true; -// offboard_control_mode.velocity = false; -// offboard_control_mode.acceleration = false; -// offboard_control_mode.attitude = false; -// offboard_control_mode.body_rate = false; -// _offboard_control_mode_pub->publish(offboard_control_mode); -// } - -// void OffboardDemo::arm() -// { -// publishVehicleCommand(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 1.0); // Arm -// } - -// void OffboardDemo::disarm() -// { -// publishVehicleCommand(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0); // Disarm -// } - -// void OffboardDemo::land() -// { -// publishVehicleCommand(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_NAV_LAND); // Land -// } - -// void OffboardDemo::switchToOffboard() -// { -// RCLCPP_INFO(this->get_logger(), "Switching to OFFBOARD mode"); -// publishVehicleCommand(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_DO_SET_MODE, 1.0, 6.0); // Set mode to offboard -// } - -// bool OffboardDemo::isStateTimeout(double seconds) -// { -// return (this->now() - _state_start_time).seconds() > seconds; -// } - -// bool OffboardDemo::headingReached(float target_heading) const -// { -// const double degrees = 1.0; -// const double tolerance = degrees * M_PI / 180.0; // Convert degrees to radians -// // Get the current heading -// auto current_heading = _local_position.heading; - -// // Calculate the angular difference -// float delta_heading = target_heading - current_heading; - -// // Normalize the angular difference to the range [-π, π] -// while (delta_heading > M_PI) delta_heading -= 2 * M_PI; -// while (delta_heading < -M_PI) delta_heading += 2 * M_PI; - -// // Check if the heading difference is within tolerance -// return fabs(delta_heading) < tolerance; -// } - -// void OffboardDemo::run() -// { -// while (rclcpp::ok() && _state != State::Done) -// { -// rclcpp::spin_some(this->get_node_base_interface()); // Process incoming messages -// runStateMachine(); -// rclcpp::sleep_for(std::chrono::milliseconds(10)); // Small delay to reduce CPU usage -// } -// } - -// int main(int argc, char *argv[]) -// { -// rclcpp::init(argc, argv); -// auto node = std::make_shared(); -// node->run(); -// rclcpp::shutdown(); -// return 0; -// } \ No newline at end of file diff --git a/px4_roscon_workshop/offboard_demo/OffboardDemo.hpp b/px4_roscon_workshop/offboard_demo/OffboardDemo.hpp deleted file mode 100644 index a98780e..0000000 --- a/px4_roscon_workshop/offboard_demo/OffboardDemo.hpp +++ /dev/null @@ -1,162 +0,0 @@ -// ============================================================================ -// ORIGINAL VERSION - OffboardDemo.hpp -// ============================================================================ -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - - -class OffboardDemo : public rclcpp::Node -{ -public: - OffboardDemo(); - - void run(); // Main loop for the state machine - -private: - void vehicleStatusCallback(const px4_msgs::msg::VehicleStatus::SharedPtr msg); - void localPositionCallback(const px4_msgs::msg::VehicleLocalPosition::SharedPtr msg); - void vehicleLandDetectedCallback(const px4_msgs::msg::VehicleLandDetected::SharedPtr msg); - void publishVehicleCommand(int command, float param1 = NAN, float param2 = NAN, float param3 = NAN, float param4 = NAN, - float param5 = NAN, float param6 = NAN, float param7 = NAN); - rclcpp::TimerBase::SharedPtr _offboard_timer; - void offboardTimerCallback(); - - void runStateMachine(); - void arm(); - void switchToOffboard(); - void disarm(); - void land(); - void loadParameters(); - bool headingReached(float target_heading) const; - - - enum class State - { - Idle, - Arm, - Takeoff, - Hover, - Waypoint, - Yaw, - Land, - Done, - }; - - rclcpp::Publisher::SharedPtr _vehicle_command_pub; - rclcpp::Subscription::SharedPtr _vehicle_status_sub; - rclcpp::Publisher::SharedPtr _trajectory_setpoint_pub; - rclcpp::Publisher::SharedPtr _offboard_control_mode_pub; - rclcpp::Subscription::SharedPtr _local_position_sub; - rclcpp::Subscription::SharedPtr _vehicle_land_detected_sub; - - px4_msgs::msg::VehicleStatus _vehicle_status {}; - px4_msgs::msg::VehicleLocalPosition _local_position {}; - - std::array _home_setpoint {}; - std::vector _trajectory_waypoints; - std::size_t _current_waypoint_index = 0; - - State _state; - rclcpp::Time _state_start_time; - - bool isStateTimeout(double seconds); - // Land detection - bool _land_detected = false; - - // Parameters - float _takeoff_altitude; - float _hover_duration; -}; - -// ============================================================================ -// ALTERNATIVE VERSION - For exercises -// ============================================================================ -// #pragma once - -// #include -// #include -// #include -// #include -// #include -// #include -// #include -// #include -// #include -// #include -// #include - - -// class OffboardDemo : public rclcpp::Node -// { -// public: -// OffboardDemo(); - -// void run(); // Main loop for the state machine - -// private: -// void vehicleStatusCallback(const px4_msgs::msg::VehicleStatus::SharedPtr msg); -// void localPositionCallback(const px4_msgs::msg::VehicleLocalPosition::SharedPtr msg); -// void vehicleLandDetectedCallback(const px4_msgs::msg::VehicleLandDetected::SharedPtr msg); -// void publishVehicleCommand(int command, float param1 = NAN, float param2 = NAN, float param3 = NAN, float param4 = NAN, -// float param5 = NAN, float param6 = NAN, float param7 = NAN); -// rclcpp::TimerBase::SharedPtr _offboard_timer; -// void offboardTimerCallback(); - -// void runStateMachine(); -// void arm(); -// void switchToOffboard(); -// void disarm(); -// void land(); -// void loadParameters(); -// bool headingReached(float target_heading) const; - - -// enum class State -// { -// Idle, -// Arm, -// Takeoff, -// Hover, -// Waypoint, -// Yaw, -// Land, -// Done, -// ChangeAltitude -// }; - -// rclcpp::Publisher::SharedPtr _vehicle_command_pub; -// rclcpp::Subscription::SharedPtr _vehicle_status_sub; -// rclcpp::Publisher::SharedPtr _trajectory_setpoint_pub; -// rclcpp::Publisher::SharedPtr _offboard_control_mode_pub; -// rclcpp::Subscription::SharedPtr _local_position_sub; -// rclcpp::Subscription::SharedPtr _vehicle_land_detected_sub; - -// px4_msgs::msg::VehicleStatus _vehicle_status {}; -// px4_msgs::msg::VehicleLocalPosition _local_position {}; - -// std::array _home_setpoint {}; -// std::vector _trajectory_waypoints; -// std::size_t _current_waypoint_index = 0; - -// State _state; -// rclcpp::Time _state_start_time; - -// bool isStateTimeout(double seconds); -// // Land detection -// bool _land_detected = false; - -// // Parameters -// float _takeoff_altitude; -// float _hover_duration; -// }; \ No newline at end of file diff --git a/px4_roscon_workshop/offboard_demo/README.md b/px4_roscon_workshop/offboard_demo/README.md deleted file mode 100644 index 9c86628..0000000 --- a/px4_roscon_workshop/offboard_demo/README.md +++ /dev/null @@ -1,44 +0,0 @@ -# Offboard Demo - Example 1 - -This package demonstrates how to use PX4 Offboard mode from ROS 2. It showcases a complete autonomous flight mission using a state machine that controls the drone through various flight phases. - -## Overview - -The Offboard Demo implements a state-based flight controller that executes the following Offboard mode: - -1. **Arm** - Arms the vehicle and prepares for flight -2. **Takeoff** - Takes off to a specified altitude -3. **Hover** - Hovers at takeoff position for a configurable duration -4. **Waypoint Navigation** - Flies through a predefined set of waypoints in a square pattern -5. **Yaw Rotation** - Performs a 360-degree rotation while hovering -6. **Land** - Lands the vehicle safely -7. **Disarm** - Disarms the vehicle when landed - -## Usage - -1. Start the simulation, PX4 and QGC as described in the [setup guide](../../docs/setup.md). -2. Start the additional ROS 2 node through the [common launchfile](../px4_roscon_workshop/README.md). - - ```sh - ros2 launch px4_roscon_workshop common.launch.py - ``` - -3. Run `offboard_demo.launch.py` from inside the docker container - - ```sh - ros2 launch offboard_demo offboard_demo.launch.py - ``` - -The `offboard_demo.launch.py` can also start the _MicroXrceAgent_ and the _gz clock bridge_. Set the launch arguments `run_uxrcedds_agent` or `run_gz_clock_bridge` to `true` to run them if you don't use `common.launch.py`. - -## Exercises - -1. Change the takeoff altitude to 3 m via ROS 2 parameter -2. Slow down the drone while going through the waypoints and speed up the yaw rotation - - Hint: https://docs.px4.io/main/en/flight_stack/controller_diagrams#multicopter-velocity-controller & QGC - -3. Add another state, where you change the altitude to 1.5 m before going to the waypoints - -The solution to the exercise is commented out at the end of the `OffboardDemo.cpp`, `OffboardDemo.hpp` and `offboard_demo.launch.py`. -Feel free to uncomment it and recompile the package to unveil it. diff --git a/px4_roscon_workshop/offboard_demo/cfg/clock_bridge.yaml b/px4_roscon_workshop/offboard_demo/cfg/clock_bridge.yaml deleted file mode 100644 index 243dab4..0000000 --- a/px4_roscon_workshop/offboard_demo/cfg/clock_bridge.yaml +++ /dev/null @@ -1,4 +0,0 @@ -- topic_name: "/clock" - ros_type_name: "rosgraph_msgs/msg/Clock" - gz_type_name: "gz.msgs.Clock" - direction: "GZ_TO_ROS" \ No newline at end of file diff --git a/px4_roscon_workshop/offboard_demo/launch/offboard_demo.launch.py b/px4_roscon_workshop/offboard_demo/launch/offboard_demo.launch.py deleted file mode 100644 index f1fba5e..0000000 --- a/px4_roscon_workshop/offboard_demo/launch/offboard_demo.launch.py +++ /dev/null @@ -1,117 +0,0 @@ -# ===================================================================== -# ORIGINAL VERSION -# ===================================================================== -import os - -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, ExecuteProcess -from launch.conditions import IfCondition -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - -def generate_launch_description(): - - pkg_share = FindPackageShare('offboard_demo').find('offboard_demo') - - clock_bridge_config_file = os.path.join(pkg_share,"cfg","clock_bridge.yaml") - - run_uxrcedds_agent_arg = DeclareLaunchArgument( - "run_uxrcedds_agent", - default_value="false", - description="Whether to run the MicroXRCEdds Agent", - ) - - run_gz_clock_bridge_arg = DeclareLaunchArgument( - "run_gz_clock_bridge", - default_value="false", - description="Whether to run the Gazebo clock bridge", - ) - - return LaunchDescription([ - run_uxrcedds_agent_arg, - run_gz_clock_bridge_arg, - Node( - package="offboard_demo", - executable="offboard_demo", - name="offboard_demo", - output="screen", - parameters=[ - {"use_sim_time": True}, - {"takeoff_altitude": 3.0} - ] - ), - Node( - package="ros_gz_bridge", - executable="parameter_bridge", - name="gz_clock_bridge", - parameters=[ - {"config_file": clock_bridge_config_file} - ], - condition=IfCondition(LaunchConfiguration("run_gz_clock_bridge")) - ), - ExecuteProcess( - cmd=["MicroXRCEAgent", "udp4", "-p", "8888", "-v", "3"], - output="screen", - condition=IfCondition(LaunchConfiguration("run_uxrcedds_agent")) - ) - ]) - -# # ===================================================================== -# # ALTERNATIVE VERSION - For exercises -# # ===================================================================== -# # import os - -# from launch import LaunchDescription -# from launch.actions import DeclareLaunchArgument, ExecuteProcess -# from launch.conditions import IfCondition -# from launch.substitutions import LaunchConfiguration -# from launch_ros.actions import Node -# from launch_ros.substitutions import FindPackageShare - -# def generate_launch_description(): - -# pkg_share = FindPackageShare("offboard_demo").find("offboard_demo") - -# clock_bridge_config_file = os.path.join(pkg_share,"cfg","clock_bridge.yaml") - -# run_uxrcedds_agent_arg = DeclareLaunchArgument( -# "run_uxrcedds_agent", -# default_value="false", -# description="Whether to run the MicroXRCEdds Agent", -# ) - -# run_gz_clock_bridge_arg = DeclareLaunchArgument( -# "run_gz_clock_bridge", -# default_value="false", -# description="Whether to run the Gazebo clock bridge", -# ) - -# return LaunchDescription([ -# run_uxrcedds_agent_arg, -# run_gz_clock_bridge_arg, -# Node( -# package="offboard_demo", -# executable="offboard_demo", -# name="offboard_demo", -# output="screen", -# parameters=[ -# {"use_sim_time": True}, -# {"takeoff_altitude": 3.0} -# ] -# ), -# Node( -# package="ros_gz_bridge", -# executable="parameter_bridge", -# name="gz_clock_bridge", -# parameters=[ -# {"config_file": clock_bridge_config_file} -# ], -# condition=IfCondition(LaunchConfiguration("run_gz_clock_bridge")) -# ), -# ExecuteProcess( -# cmd=["MicroXRCEAgent", "udp4", "-p", "8888", "-v", "3"], -# output="screen", -# condition=IfCondition(LaunchConfiguration("run_uxrcedds_agent")) -# ) -# ]) \ No newline at end of file diff --git a/px4_roscon_workshop/offboard_demo/package.xml b/px4_roscon_workshop/offboard_demo/package.xml deleted file mode 100644 index 16f1cb8..0000000 --- a/px4_roscon_workshop/offboard_demo/package.xml +++ /dev/null @@ -1,32 +0,0 @@ - - - - offboard_demo - 0.0.1 - ROSCon2025 workshop Offboard demo - patrik_ark - Beniamino Pozzan - CC-BY-SA-4.0 - - ament_cmake - rosidl_default_generators - eigen3_cmake_module - eigen3_cmake_module - - - rclcpp - px4_msgs - geometry_msgs - eigen - - ros_gz_bridge - launch - launch_ros - - ament_lint_auto - ament_lint_common - - - ament_cmake - - \ No newline at end of file diff --git a/px4_roscon_workshop/precision_land_executor/CustomModeExecutor_v2.cpp b/px4_roscon_workshop/precision_land_executor/CustomModeExecutor_v2.cpp index 6b47d03..8a91857 100644 --- a/px4_roscon_workshop/precision_land_executor/CustomModeExecutor_v2.cpp +++ b/px4_roscon_workshop/precision_land_executor/CustomModeExecutor_v2.cpp @@ -8,11 +8,11 @@ using CustomModeWithExecutor = px4_ros2::NodeWithModeExecutor(state), static_cast(previous_result)); } - RCLCPP_INFO(_node.get_logger(), "Switched to state: %d", static_cast(state)); + RCLCPP_INFO(node().get_logger(), "Switched to state: %d", static_cast(state)); // Handle state-specific logic here switch (state) { case State::Takeoff: - RCLCPP_INFO(_node.get_logger(), "Initiating takeoff..."); + RCLCPP_INFO(node().get_logger(), "Initiating takeoff..."); takeoff( [this](px4_ros2::Result result) { switchToState(State::CustomWaypoints, result); @@ -57,7 +57,7 @@ void CustomModeExecutor::switchToState(State state, px4_ros2::Result previous_re break; case State::WaitUntilDisarmed: waitUntilDisarmed([this](px4_ros2::Result result) { - RCLCPP_INFO(_node.get_logger(), "All states complete (%s)", resultToString(result)); + RCLCPP_INFO(node().get_logger(), "All states complete (%s)", resultToString(result)); }); break; } diff --git a/px4_roscon_workshop/precision_land_executor/CustomModeExecutor_v2.hpp b/px4_roscon_workshop/precision_land_executor/CustomModeExecutor_v2.hpp index 8a397a3..d232e49 100644 --- a/px4_roscon_workshop/precision_land_executor/CustomModeExecutor_v2.hpp +++ b/px4_roscon_workshop/precision_land_executor/CustomModeExecutor_v2.hpp @@ -10,7 +10,7 @@ class CustomModeExecutor : public px4_ros2::ModeExecutorBase { public: - CustomModeExecutor(rclcpp::Node &node, px4_ros2::ModeBase &owned_mode, + CustomModeExecutor(px4_ros2::ModeBase &owned_mode, px4_ros2::ModeBase &second_mode); // See ModeExecutorBase @@ -18,8 +18,6 @@ class CustomModeExecutor : public px4_ros2::ModeExecutorBase { void onDeactivate(DeactivateReason reason) override; private: - // ROS2 - rclcpp::Node &_node; px4_ros2::ModeBase &_second_mode; // State management diff --git a/px4_roscon_workshop/precision_land_executor/CustomMode_v2.cpp b/px4_roscon_workshop/precision_land_executor/CustomMode_v2.cpp index d992458..2bfc3c6 100644 --- a/px4_roscon_workshop/precision_land_executor/CustomMode_v2.cpp +++ b/px4_roscon_workshop/precision_land_executor/CustomMode_v2.cpp @@ -162,7 +162,7 @@ void PrecisionLand::onDeactivate() // No-op } -void PrecisionLand::updateSetpoint(float dt_s) +void PrecisionLand::updateSetpoint([[maybe_unused]] float dt_s) { bool target_lost = checkTargetTimeout(); diff --git a/px4_roscon_workshop/precision_land_executor/README.md b/px4_roscon_workshop/precision_land_executor/README.md index d87bbf9..a978d77 100644 --- a/px4_roscon_workshop/precision_land_executor/README.md +++ b/px4_roscon_workshop/precision_land_executor/README.md @@ -37,11 +37,7 @@ The system: 1. Start the simulation, PX4 and QGC as described in the [setup guide](../../docs/setup.md) with the `walls` world and the x500 with the downfacing camera: ```sh - python3 /home/ubuntu/PX4-gazebo-models/simulation-gazebo --model_store /home/ubuntu/PX4-gazebo-models/ --world walls - ``` - - ```sh - PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4014 PX4_PARAM_UXRCE_DDS_SYNCT=0 /home/ubuntu/px4_sitl/bin/px4 -w /home/ubuntu/px4_sitl/romfs + make px4_sitl gz_x500_mono_cam_down_walls ``` 2. Ensure the vehicle is ready (GPS lock, all sensors healthy) @@ -72,4 +68,6 @@ The current waypoints require a velocity limit, you can set it in QGC. ros2 launch precision_land_executor precision_land_executor.launch.py ``` + use `px4_autopilot_path` launch argument to provide the PX4-Autopilot path. + 4. Select **CustomWaypoints** and arm the drone diff --git a/px4_roscon_workshop/precision_land_executor/launch/precision_land_executor.launch.py b/px4_roscon_workshop/precision_land_executor/launch/precision_land_executor.launch.py index 8007a29..ae4b75a 100644 --- a/px4_roscon_workshop/precision_land_executor/launch/precision_land_executor.launch.py +++ b/px4_roscon_workshop/precision_land_executor/launch/precision_land_executor.launch.py @@ -1,21 +1,21 @@ import os from launch import LaunchDescription -from launch.actions import ExecuteProcess +from launch.actions import ExecuteProcess, DeclareLaunchArgument, OpaqueFunction +from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node -def generate_launch_description(): - - return LaunchDescription([ - Node( - package="precision_land_executor", - executable="precision_land_executor", - name="precision_land_executor", - output="screen", - parameters=[ - {"use_sim_time": True} - ] - ), +def _launch_setup(context): + px4_autopilot_path = os.path.expanduser( + LaunchConfiguration('px4_autopilot_path').perform(context) + ) + px4_gz_resource_path = os.path.join(px4_autopilot_path, 'Tools', 'simulation', 'gz') + arucotag_model_path = os.path.join(px4_gz_resource_path, 'models', 'arucotag') + return [ + # SetEnvironmentVariable( + # 'GZ_SIM_RESOURCE_PATH', + # ':'.join([os.path.join(px4_gz_resource_path, 'worlds'), os.path.join(px4_gz_resource_path, 'models')]) + # ), ExecuteProcess( cmd=[ "gz", "service", @@ -25,7 +25,7 @@ def generate_launch_description(): "--timeout", "1000", "--req", ( - 'sdf_filename: "/home/ubuntu/PX4-gazebo-models/models/arucotag/model.sdf", ' + f'sdf_filename: "{arucotag_model_path}/model.sdf", ' 'name: "arucotag", ' 'pose: { position: { x: 8, y: -4.0, z: 0.001000 }, ' 'orientation: { x: 0.0, y: 0.0, z: 0.0, w: 1.0 } }' @@ -33,4 +33,24 @@ def generate_launch_description(): ], output="screen" ) + ] + +def generate_launch_description(): + + return LaunchDescription([ + DeclareLaunchArgument( + 'px4_autopilot_path', + default_value='~/PX4-Autopilot', + description='Path to PX4-Autopilot repository root (supports ~)', + ), + Node( + package="precision_land_executor", + executable="precision_land_executor", + name="precision_land_executor", + output="screen", + parameters=[ + {"use_sim_time": True} + ] + ), + OpaqueFunction(function=_launch_setup), ]) diff --git a/px4_roscon_workshop/px4_roscon_workshop/README.md b/px4_roscon_workshop/px4_roscon_workshop/README.md index 7915a63..857be2d 100644 --- a/px4_roscon_workshop/px4_roscon_workshop/README.md +++ b/px4_roscon_workshop/px4_roscon_workshop/README.md @@ -18,7 +18,7 @@ The launchfile will - Start the MicroXRCEAgent agent You can use [Foxglove client](https://foxglove.dev/) to visualize the drone position and get other insights. -The [roscon-25-workshop](../../foxglove/roscon-25-workshop.json) layout provides 3D visualization, xy-map and altitude plot. +The [px4_roscon_workshop](../../foxglove/px4_roscon_workshop.json) layout provides 3D visualization, xy-map and altitude plot. Gazebo, PX4 and QGC are not automatically started by this launchfile. Please refer to [the setup](../../docs/setup.md) to know more on how to start them. diff --git a/px4_roscon_workshop/px4_roscon_workshop/launch/px4.launch.py b/px4_roscon_workshop/px4_roscon_workshop/launch/px4.launch.py new file mode 100644 index 0000000..bb72dff --- /dev/null +++ b/px4_roscon_workshop/px4_roscon_workshop/launch/px4.launch.py @@ -0,0 +1,120 @@ +import glob +from os import path, environ +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable, IncludeLaunchDescription, ExecuteProcess, OpaqueFunction +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.substitutions import FindPackageShare + +# launch gazebo server and PX4 +# gz gui needs to be launched separately, e.g.: gz sim -g + +def _launch_setup(context): + px4_autopilot_path = path.expanduser( + LaunchConfiguration('px4_autopilot_path').perform(context) + ) + world_name = LaunchConfiguration('world').perform(context) + model_name = LaunchConfiguration('model').perform(context) + model_path = path.expanduser( + LaunchConfiguration('model_path').perform(context) + ) + + extra_gz_resource_path = LaunchConfiguration('extra_gz_resource_path').perform(context) + + ros_gz_sim_pkg_path = get_package_share_directory('ros_gz_sim') + px4_roscon_workshop_pkg_path = get_package_share_directory('px4_roscon_workshop') + px4_gz_resource_path = path.join(px4_autopilot_path, 'Tools', 'simulation', 'gz') + px4_gz_plugin_path = path.join(px4_autopilot_path, 'build', 'px4_sitl_default', 'src', 'modules', 'simulation', 'gz_plugins') + px4_gz_server_config_path = path.join(px4_autopilot_path, 'src', 'modules', 'simulation', 'gz_bridge', 'server.config') + gz_launch_path = path.join(ros_gz_sim_pkg_path, 'launch', 'ros_gz_sim.launch.py') + gz_spawn_path = path.join(ros_gz_sim_pkg_path, 'launch', 'gz_spawn_model.launch.py') + + return [ + SetEnvironmentVariable( + 'GZ_SIM_RESOURCE_PATH', + ':'.join([path.join(px4_gz_resource_path, 'worlds'), path.join(px4_gz_resource_path, 'models'), extra_gz_resource_path]) + ), + SetEnvironmentVariable( + 'GZ_SIM_SYSTEM_PLUGIN_PATH', + ':'.join([environ.get('GZ_SIM_SYSTEM_PLUGIN_PATH', ''), px4_gz_plugin_path]) + ), + SetEnvironmentVariable( + 'GZ_SIM_SERVER_CONFIG_PATH', + px4_gz_server_config_path + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource(gz_launch_path), + launch_arguments={ + 'world_sdf_file': f'{world_name}.sdf', + 'bridge_name': 'gz_ros_bridge', + 'config_file': path.join(px4_roscon_workshop_pkg_path, 'cfg', 'clock_bridge.yaml') + }.items(), + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource(gz_spawn_path), + launch_arguments={ + 'world': world_name, + 'file': model_path, + }.items(), + ), + ExecuteProcess( + cmd = [ + path.join(px4_autopilot_path, 'build', 'px4_sitl_default', 'bin', 'px4'), + ], + additional_env = { + 'PX4_SYS_AUTOSTART': LaunchConfiguration('px4_autostart_id').perform(context), + 'PX4_GZ_MODEL_NAME': model_name, + 'PX4_GZ_STANDALONE': '1', + 'PX4_GZ_WORLD': world_name, + }, + name = 'px4', + output = 'screen' + ), + ExecuteProcess( + cmd = [ + "MicroXRCEAgent", + "udp4", + "--port", "8888", + ], + name = 'microxrce_agent', + output = 'screen' + ) + ] + + +def generate_launch_description(): + return LaunchDescription([ + DeclareLaunchArgument( + 'px4_autopilot_path', + default_value='~/PX4-Autopilot', + description='Path to PX4-Autopilot repository root (supports ~)', + ), + DeclareLaunchArgument( + 'world', + default_value='default', + description='Name of the world to launch', + ), + DeclareLaunchArgument( + 'model', + default_value='x500', + description='Name of the model to spawn', + ), + DeclareLaunchArgument( + 'model_path', + default_value='~/PX4-Autopilot/Tools/simulation/gz/models/x500/model.sdf', + description='Path to the model SDF file', + ), + DeclareLaunchArgument( + 'px4_autostart_id', + default_value='4001', + description='PX4 autostart ID', + ), + DeclareLaunchArgument( + 'extra_gz_resource_path', + default_value='', + description='Extra GZ resource path to add to GZ_SIM_RESOURCE_PATH', + ), + OpaqueFunction(function=_launch_setup), + ]) \ No newline at end of file diff --git a/px4_roscon_workshop/px4_roscon_workshop/package.xml b/px4_roscon_workshop/px4_roscon_workshop/package.xml index 8572286..c01e0a1 100644 --- a/px4_roscon_workshop/px4_roscon_workshop/package.xml +++ b/px4_roscon_workshop/px4_roscon_workshop/package.xml @@ -4,7 +4,7 @@ px4_roscon_workshop 0.0.1 Utility package to facilitate communication between PX4 and ROS 2 - ubuntu + Beniamino Pozzan CC-BY-SA-4.0 ament_cmake diff --git a/px4_roscon_workshop/px4_tf/README.md b/px4_roscon_workshop/px4_tf/README.md index 9997447..2a1df99 100644 --- a/px4_roscon_workshop/px4_tf/README.md +++ b/px4_roscon_workshop/px4_tf/README.md @@ -36,8 +36,6 @@ When converted in ROS 2 coordinate system this corresponds to a yaw value of `90 ## Examples The following examples assumes that the user can run a PX4 simulation using Gazebo and can bridge PX4 and ROS 2 through uXRCE-DDS. -All the commands that follows are expected to be run from inside the workshop container assuming the GUI is available. -Please refer to the [docker guide](../../docker/README.md) for running the commands without GUI. ### Example 1 - single drone spawning in Gazebo position (0,0,0) @@ -45,25 +43,14 @@ When a single drone is simulated and the drone is spawned in the Gz world in pos Please run the following commands in separate terminals. 1. Start Gazebo, spawn a drone and attach a PX4 instance to it. - 1. Start Gazebo: - - ```sh - python3 /home/ubuntu/PX4-gazebo-models/simulation-gazebo --model_store /home/ubuntu/PX4-gazebo-models/ - ``` - - 2. Spawn a `x500` quadrotor model in gz position (0,0,0) facing gz x-axis (ROS 2 East): - - ```sh - PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 PX4_PARAM_UXRCE_DDS_SYNCT=0 /home/ubuntu/px4_sitl/bin/px4 -w /home/ubuntu/px4_sitl/romfs - ``` - - 3. Start QGC: - - ```sh - /home/ubuntu/QGroundControl/qgroundcontrol - ``` +From the PX4 repo, run + + ```sh + make px4_sitl gz_500 + ``` -2. Start the MicroXRCE Agent +3. Start QGC +2. Start the MicroXRCEdds Agent ```sh MicroXRCEAgent udp4 -p 8888 @@ -93,44 +80,32 @@ Please run the following commands in separate terminals. ### Example 2 - two drones -1. Start Gazebo, spawn a drone and attach a PX4 instance to it. - 1. Start Gazebo: - - ```sh - python3 /home/ubuntu/PX4-gazebo-models/simulation-gazebo --model_store /home/ubuntu/PX4-gazebo-models/ - ``` +1. Start Gazebo, spawn a drone and attach a PX4 instance to it. Instance id is set to 1 (`-i 1`) to ensure unique namespace for the px4_topics - 2. Spawn a `x500` quadrotor model in gz position (1,0,0) facing gz x-axis (ROS 2 East). Instance id is set to 1 (`-i 1`) to ensure unique namespace for the px4_topics - - ```sh - PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 PX4_GZ_MODEL_POSE="1,0,0,0,0,0" PX4_PARAM_UXRCE_DDS_SYNCT=0 /home/ubuntu/px4_sitl/bin/px4 -w /home/ubuntu/px4_sitl/romfs -i 1 - ``` - - 3. Spawn a second `x500` quadrotor model in gz position (-11,0,0) facing gz x-axis (ROS 2 East). Instance id is set to 2 (`-i 2`) to ensure unique namespace for the px4_topics - - ```sh - PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 PX4_GZ_MODEL_POSE="-1,0,0,0,0,0" PX4_PARAM_UXRCE_DDS_SYNCT=0 /home/ubuntu/px4_sitl/bin/px4 -w /home/ubuntu/px4_sitl/romfs -i 2 - ``` + ```sh + PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 PX4_PARAM_UXRCE_DDS_SYNCT=0 ./build/px4_sitl_default/bin/px4 -i 1 + ``` - 4. Start QGC: +1. Spawn a second `x500` quadrotor model in gz position (-1,0,0) facing gz x-axis (ROS 2 East). Instance id is set to 2 (`-i 2`) to ensure unique namespace for the px4_topics - ```sh - /home/ubuntu/QGroundControl/qgroundcontrol - ``` + ```sh + PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 PX4_GZ_MODEL_POSE="-1,0,0,0,0,0" PX4_PARAM_UXRCE_DDS_SYNCT=0 ./build/px4_sitl_default/bin/px4 -i 2 + ``` -2. Start the MicroXRCE Agent +1. Start QGC: +1. Start the MicroXRCE Agent ```sh MicroXRCEAgent udp4 -p 8888 ``` -3. Use `ros_gz_bridge` to bridge gz `/Clock` topic +1. Use `ros_gz_bridge` to bridge gz `/Clock` topic ```sh ros2 run ros_gz_bridge parameter_bridge /clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock ``` -4. Start two `px4_tf_publisher` instances, one for each vehicle. +1. Start two `px4_tf_publisher` instances, one for each vehicle. ```sh ros2 run px4_tf px4_tf_publisher --ros-args -p use_sim_time:=true -r __ns:=/px4_1 -p px4_tf_prefix:=px4_1 @@ -140,17 +115,17 @@ Please run the following commands in separate terminals. ros2 run px4_tf px4_tf_publisher --ros-args -p use_sim_time:=true -r __ns:=/px4_2 -p px4_tf_prefix:=px4_2 ``` -5. Start two static tf publishers to link `px4_1odom` and `px4_2odom` to a common `map` frame +1. Start two static tf publishers to link `px4_1odom` and `px4_2odom` to a common `map` frame ```sh - ros2 run tf2_ros static_transform_publisher --x 1 --y 0 --z 0 --yaw 0 --pitch 0 --roll 0 --frame-id map --child-frame-id px4_2odom + ros2 run tf2_ros static_transform_publisher --x 0 --y 0 --z 0 --yaw 0 --pitch 0 --roll 0 --frame-id map --child-frame-id px4_1odom ``` ```sh ros2 run tf2_ros static_transform_publisher --x -1 --y 0 --z 0 --yaw 0 --pitch 0 --roll 0 --frame-id map --child-frame-id px4_2odom ``` -6. Use Foxglove to visualize your data, first start the foxglove bridge +1. Use Foxglove to visualize your data, first start the foxglove bridge ```sh ros2 run foxglove_bridge foxglove_bridge --ros-args -p use_sim_time:=true diff --git a/px4_roscon_workshop/rover_teleop/CMakeLists.txt b/px4_roscon_workshop/rover_teleop/CMakeLists.txt new file mode 100644 index 0000000..6676d28 --- /dev/null +++ b/px4_roscon_workshop/rover_teleop/CMakeLists.txt @@ -0,0 +1,51 @@ +cmake_minimum_required(VERSION 3.8) +project(rover_teleop) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(px4_ros2_cpp REQUIRED) +find_package(geometry_msgs REQUIRED) + +# Executable target +add_executable(${PROJECT_NAME} + Teleop.cpp + Teleop.hpp +) + +ament_target_dependencies(${PROJECT_NAME} + rclcpp + px4_ros2_cpp + geometry_msgs +) + +# Install the binary +install(TARGETS ${PROJECT_NAME} + DESTINATION lib/${PROJECT_NAME} +) + +install(DIRECTORY launch + DESTINATION share/${PROJECT_NAME} +) + +install(DIRECTORY cfg + DESTINATION share/${PROJECT_NAME}/ +) + +install(DIRECTORY models + DESTINATION share/${PROJECT_NAME}/ +) + +# Linting +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + set(ament_cmake_cpplint_FOUND TRUE) + set(ament_cmake_copyright_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/px4_roscon_workshop/rover_teleop/README.md b/px4_roscon_workshop/rover_teleop/README.md new file mode 100644 index 0000000..0f9c4bc --- /dev/null +++ b/px4_roscon_workshop/rover_teleop/README.md @@ -0,0 +1,40 @@ +# Rover Teleoperation + +This package uses a PX4 custom mode to teleoperate a differential rover, via +[`RoverThrottleSteeringSetpointType`](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1RoverThrottleSteeringSetpointType.html). +`cmd_vel` linear.x maps to throttle, and angular.z maps to the normalized +left/right wheel speed difference. + +## Build + +```sh +colcon build --symlink-install --packages-up-to rover_teleop +source install/setup.bash +``` + +## Run + +Spawn the scaled-up PX4 differential rover and launch the teleop: + +```sh +ros2 launch rover_teleop rover_launch.py +``` + +use the launch argument `px4_autopilot_path` to provide the path to the local PX4-Autopilot repo. + +On a different terminal, start the gazebo GUI with `gz sim -g`. + +Run the keyboard teleop: + +```sh +ros2 run teleop_twist_keyboard teleop_twist_keyboard +``` + +Just like in the Custom Mode demo, the teleop mode requires you to manually activate it and arm the rover! + +A custom, scaled-up rover model (`rover_differential_xl`) is included in +[`models/`](./models). + +## Exercise + +Drive the rover to the target using teleoperation. diff --git a/px4_roscon_workshop/rover_teleop/Teleop.cpp b/px4_roscon_workshop/rover_teleop/Teleop.cpp new file mode 100644 index 0000000..6f38b15 --- /dev/null +++ b/px4_roscon_workshop/rover_teleop/Teleop.cpp @@ -0,0 +1,98 @@ +#include "Teleop.hpp" + +#include + +#include // for std::clamp + +static const std::string kModeName = "Teleoperation"; +static const bool kEnableDebug = true; + +Teleop::Teleop(rclcpp::Node& node) + : px4_ros2::ModeBase(node, kModeName) + , _node(node) +{ + _rover_throttle_steering_setpoint = std::make_shared(*this); + _clock = std::make_shared(RCL_SYSTEM_TIME); + loadParameters(); + _twist_sub = _node.create_subscription( + "/cmd_vel", 10, + [this](const geometry_msgs::msg::Twist::SharedPtr msg) { + _last_twist = *msg; + _last_twist_time = _clock->now(); + }); + _active_sub = _node.create_subscription( + "/teleop/active", 10, + [this](const std_msgs::msg::Bool::SharedPtr msg) { + _teleop_active = msg->data; + RCLCPP_INFO(_node.get_logger(), "Teleop active: %s", _teleop_active ? "true" : "false"); + }); +} +void Teleop::loadParameters() +{ + _node.declare_parameter("teleop_duration", 60.0); + double duration_sec = _node.get_parameter("teleop_duration").as_double(); + + RCLCPP_INFO(_node.get_logger(), "Teleoperation duration set to: %.2f seconds", duration_sec); + + // Ensure the value is sane + if (duration_sec < 5.0) { + RCLCPP_WARN(_node.get_logger(), "Invalid teleop_duration (%f), using default 60.0", duration_sec); + duration_sec = 60.0; + } + + _teleop_duration = std::chrono::duration(duration_sec); +} + +void Teleop::onActivate() +{ + _last_twist_time = _clock->now(); + _teleop_active = true; + RCLCPP_INFO(_node.get_logger(), "Teleop mode activated"); +} + +void Teleop::onDeactivate() +{ + RCLCPP_INFO(_node.get_logger(), "Teleop mode deactivated"); +} + +void Teleop::updateSetpoint([[maybe_unused]] float dt_s) +{ + const auto now = _clock->now(); + + if (((now - _last_twist_time) > _teleop_duration) || (_teleop_active == false)) { + RCLCPP_WARN(_node.get_logger(), "Teleop keyboard was closed or no Twist commands for %.0f seconds, exiting Teleop mode.", _teleop_duration.count()); + completed(px4_ros2::Result::Success); + return; + } + + // Default values: no throttle, no steering + float throttle_body_x = 0.f; + float normalized_steering_setpoint = 0.f; + + if ((now - _last_twist_time).seconds() <= 0.2) { + const geometry_msgs::msg::Twist &twist = _last_twist; + + // Twist.linear.x maps directly to the forward/backward throttle setpoint. + throttle_body_x = std::clamp(static_cast(twist.linear.x), -1.f, 1.f); + + // For a differential rover the steering setpoint is the normalized speed + // difference between the left and right wheels, not a steering angle. + // Twist.angular.z is CCW-positive (left turn), while the steering setpoint + // is positive to the right, hence the sign flip. + normalized_steering_setpoint = std::clamp(static_cast(-twist.angular.z), -1.f, 1.f); + } + + _rover_throttle_steering_setpoint->update(throttle_body_x, normalized_steering_setpoint); +} + +using TeleopNodeWithMode = px4_ros2::NodeWithMode; + +static const std::string kNodeName = "teleop_node"; + +int main(int argc, char *argv[]) +{ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared(kNodeName, kEnableDebug)); + rclcpp::shutdown(); + return 0; +} diff --git a/px4_roscon_workshop/rover_teleop/Teleop.hpp b/px4_roscon_workshop/rover_teleop/Teleop.hpp new file mode 100644 index 0000000..96bc491 --- /dev/null +++ b/px4_roscon_workshop/rover_teleop/Teleop.hpp @@ -0,0 +1,38 @@ +#pragma once + +// PX4 Interface Library +#include +#include + +// ROS 2 Core +#include +#include +#include + +// C++ Std +#include + +class Teleop : public px4_ros2::ModeBase { +public: + explicit Teleop(rclcpp::Node &node); + + // See ModeBase + void onActivate() override; + void onDeactivate() override; + void updateSetpoint([[maybe_unused]] float dt_s) override; + +private: + void loadParameters(); + // ROS 2 + rclcpp::Node &_node; + rclcpp::Subscription::SharedPtr _twist_sub; + rclcpp::Subscription::SharedPtr _active_sub; + geometry_msgs::msg::Twist _last_twist; + rclcpp::Time _last_twist_time; + rclcpp::Clock::SharedPtr _clock; + + // px4_ros2_cpp + std::shared_ptr _rover_throttle_steering_setpoint; + std::chrono::duration _teleop_duration; + bool _teleop_active; +}; diff --git a/px4_roscon_workshop/rover_teleop/cfg/rover_config.yaml b/px4_roscon_workshop/rover_teleop/cfg/rover_config.yaml new file mode 100644 index 0000000..4640904 --- /dev/null +++ b/px4_roscon_workshop/rover_teleop/cfg/rover_config.yaml @@ -0,0 +1 @@ +# TODO diff --git a/px4_roscon_workshop/rover_teleop/launch/rover_launch.py b/px4_roscon_workshop/rover_teleop/launch/rover_launch.py new file mode 100644 index 0000000..5ca0bf8 --- /dev/null +++ b/px4_roscon_workshop/rover_teleop/launch/rover_launch.py @@ -0,0 +1,47 @@ + +from os import path + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare +from launch.substitutions import LaunchConfiguration + + + +def generate_launch_description(): + + px4_roscon_workshop_pkg_path = FindPackageShare(package='px4_roscon_workshop').find('px4_roscon_workshop') + pkg_share = FindPackageShare(package='rover_teleop').find('rover_teleop') + + return LaunchDescription([ + DeclareLaunchArgument( + 'px4_autopilot_path', + default_value='~/PX4-Autopilot', + description='Path to PX4-Autopilot repository root (supports ~)', + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + path.join(px4_roscon_workshop_pkg_path, 'launch', 'px4.launch.py') + ), + launch_arguments={ + 'px4_autopilot_path': LaunchConfiguration('px4_autopilot_path'), + 'world': 'rover', + 'model': 'rover_differential_xl', + 'model_path': path.join(pkg_share, 'models', 'rover_differential_xl', 'model.sdf'), + 'px4_autostart_id': '50000', + 'extra_gz_resource_path': path.join(pkg_share, 'models') + }.items(), + ), + Node( + package="rover_teleop", + executable="rover_teleop", + name="rover_teleop", + output="screen", + parameters=[ + {"use_sim_time": True} + ] + ) + ]) diff --git a/px4_roscon_workshop/rover_teleop/models/rover_differential_xl/meshes/rover_differential_base.dae b/px4_roscon_workshop/rover_teleop/models/rover_differential_xl/meshes/rover_differential_base.dae new file mode 100644 index 0000000..9160157 --- /dev/null +++ b/px4_roscon_workshop/rover_teleop/models/rover_differential_xl/meshes/rover_differential_base.dae @@ -0,0 +1,130 @@ + + + + + + ONSHAPE BY PTC INC, 1.200 + + 2025-06-30T10:04:13 + 2025-06-30T10:04:13 + + Z_UP + + + + + + + + + + + + + + + + + + 0 0 0 1 + + + 1 1 1 1 + + + 1 + + + + + + 1 + + + + + + + + + + 1 1 1 1 + + + 1 1 1 1 + + + 1 + + + + + + 1 + + + + + + + + + + + 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0.156434 0.950919 0.0161496 0.309017 0.453925 0.00770907 0.891006 0.308973 0.00524732 0.951056 0.156412 0.00265636 0.987688 1.18529e-08 -1.30856e-09 1 0.753072 0.657938 -1.74846e-07 0.691063 0.722795 -1.74846e-07 0.75781 0.633445 0.156434 0.934512 0.176624 0.309017 0.639857 0.752404 0.156434 1.18517e-08 1.31952e-09 1 0.153713 0.0290519 0.987688 1.19249e-08 -1.3836e-15 1 0.550897 0.834573 -1.74846e-07 0.62349 0.781831 -1.74846e-07 0.89122 0.332016 0.309017 0.834948 0.311053 0.453991 0.289575 0.107879 0.951056 0.146592 0.0546117 0.987688 1.16329e-08 2.62284e-09 1 0.82229 0.477858 0.309017 1.07711e-08 5.11721e-09 1 0.135254 0.0786004 0.987688 1.12712e-08 3.89393e-09 1 0.473869 0.880595 -1.74846e-07 0.729704 0.609952 0.309017 0.237095 0.198185 0.951056 0.120025 0.100328 0.987688 1.01387e-08 6.27764e-09 1 0.222521 0.974928 -1.74846e-07 0.616125 0.724499 0.309017 8.50972e-09 8.35389e-09 1 9.38184e-09 7.36097e-09 1 0.0448648 0.998993 -1.74846e-07 0.484822 0.818203 0.309017 0.162096 0.424067 0.891006 7.53308e-09 9.24422e-09 1 0.318131 0.832277 0.453991 0.339571 0.888369 0.309017 0.288857 0.755692 0.587785 0.25247 0.660499 0.707107 0.209867 0.549042 0.809017 0.0880965 0.445361 0.891006 5.31538e-09 1.06747e-08 1 6.46392e-09 1.0021e-08 1 0.184552 0.932979 0.309017 0.137213 0.693666 0.707107 0.114059 0.576612 0.809017 2.83735e-09 1.15824e-08 1 4.10155e-09 1.11973e-08 1 -0.0448649 0.998993 -1.74846e-07 0.0206051 0.808755 0.587785 0.0180099 0.706877 0.707107 0.0149705 0.587594 0.809017 0.0115631 0.453843 0.891006 2.20357e-10 1.19228e-08 1 -0.128165 0.881741 0.453991 -0.116371 0.800604 0.587785 -0.101712 0.699753 0.707107 -0.0845486 0.581672 0.809017 -0.0653033 0.449269 0.891006 + + + + + + + + + + + + + + +

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57 58 59 60 61 62 63 64 62 65 66 67 62 65 68 66 64 69 64 66 65 64 63 70 62 64 65 61 71 63 61 63 62 72 73 61 71 61 73 73 74 75 74 73 72 74 76 77 77 75 74 78 79 80 81 77 82 57 83 84 85 78 86 87 88 89 90 91 92 93 89 94 95 90 96 97 98 99 100 97 101 102 103 104 104 105 106 107 108 109 110 111 103 112 113 114 113 112 108 115 108 112 115 116 111 117 112 114 112 118 115 108 115 109 108 119 113 109 111 110 111 109 115 120 104 103 111 120 103 104 106 102 121 106 98 106 105 98 101 97 99 98 97 121 100 96 122 101 96 100 90 95 91 90 122 96 91 123 93 91 93 92 94 89 88 123 89 93 124 88 58 88 87 58 83 57 59 58 57 124 85 83 125 84 83 85 80 86 78 85 125 78 81 82 80 81 80 79 82 77 76

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/px4_roscon_workshop/rover_teleop/models/rover_differential_xl/model.config b/px4_roscon_workshop/rover_teleop/models/rover_differential_xl/model.config new file mode 100644 index 0000000..e04a852 --- /dev/null +++ b/px4_roscon_workshop/rover_teleop/models/rover_differential_xl/model.config @@ -0,0 +1,11 @@ + + + rover_differential_xl + 1.0 + model.sdf + + Christian Friedrich + ch.friedrich98@gmail.ch + + Generic differential rover, scaled up 2x. + diff --git a/px4_roscon_workshop/rover_teleop/models/rover_differential_xl/model.sdf b/px4_roscon_workshop/rover_teleop/models/rover_differential_xl/model.sdf new file mode 100644 index 0000000..8014a9b --- /dev/null +++ b/px4_roscon_workshop/rover_teleop/models/rover_differential_xl/model.sdf @@ -0,0 +1,383 @@ + + + + + + 0 0 0.2 0 0 0 + + 40.0 + -0.4 0 0 0 0 0 + + 0.966666656 + 0.0 + 0.0 + 3.466666656 + 0.0 + 4.166666656 + + + + 0 0 -0.1 0 0 0 + + + model://rover_differential_xl/meshes/rover_differential_base.dae + 2 2 2 + + + + + + + 2 1 0.2 + + + + + + 0.5 0 0.101 0 0 0 + + + 0 0 1 + 0.5 0.5 + + + + 1 1 1 1 + 0.4 0.4 0.4 1 + + + model://arucotag/arucotag.png + + + + + + + + base_link + 1 + 50 + + + + + 0 + 3 + + + + + + base_link + 1 + 100 + + + + + + + + 0.0001 + + + + + 0.0001 + + + + + 0.0001 + + + + + + base_link + 1 + 250 + + + + + + + 0.0 + 0.0008726646 + + + + + 0.0 + 0.0008726646 + + + + + 0.0 + 0.0008726646 + + + + + + + + + 0.0 + 0.00637 + + + + + 0.0 + 0.00637 + + + + + + 0.0 + 0.00686 + + + + + + + base_link + 1 + 30 + + + + + -0.4 0.6 0 -1.5707 0 0 + + 4.0 + + 0.025833344 + 0 + 0 + 0.025833344 + 0 + 0.045 + + + + 0 0 0 0 0 0 + + + model://rover_differential_xl/meshes/rover_differential_wheel.dae + 2 2 2 + + + + + + + 0.2 + 0.2 + + + + + + 1.0 + 1.0 + 1 0 0 + 0.0 + 0.0 + + + + + + + + -0.4 -0.6 0 -1.5707 0 0 + + 4.0 + + 0.025833344 + 0 + 0 + 0.025833344 + 0 + 0.045 + + + + 0 0 0 0 0 0 + + + model://rover_differential_xl/meshes/rover_differential_wheel.dae + 2 2 2 + + + + + + + 0.2 + 0.2 + + + + + + 1.0 + 1.0 + 1 0 0 + 0.0 + 0.0 + + + + + + + + 0.5 0 -0.05 -1.5707 0 0 + + 8 + + 0.512 + 0 + 0 + 0.512 + 0 + 0.512 + + + + + + 0.15 + + + + 0 0 0 1 + 0 0 0 1 + 0 0 0 0 + 0 0 0 1 + + + + + + 0.15 + + + + + + 0 + 0 + 1 0 0 + + + + + + + + -0.6 0 -0.05 -1.5707 0 0 + + 8 + + 0.512 + 0 + 0 + 0.512 + 0 + 0.512 + + + + + + 0.15 + + + + 0 0 0 1 + 0 0 0 1 + 0 0 0 0 + 0 0 0 1 + + + + + + 0.15 + + + + + + 0 + 0 + 1 0 0 + + + + + + + + + + base_link + wheel_rear_left_link + + 0 1 0 + + + + + + base_link + wheel_rear_right_link + + 0 1 0 + + + + + + base_link + cast_wheel_front_link + + + + + base_link + cast_wheel_rear_link + + + + + wheel_rear_left_joint + command/motor_speed + velocity + true + 1 + + + + wheel_rear_right_joint + command/motor_speed + velocity + true + 0 + + + + wheel_rear_left_joint + wheel_rear_right_joint + + + diff --git a/px4_roscon_workshop/rover_teleop/package.xml b/px4_roscon_workshop/rover_teleop/package.xml new file mode 100644 index 0000000..1205c80 --- /dev/null +++ b/px4_roscon_workshop/rover_teleop/package.xml @@ -0,0 +1,25 @@ + + + + rover_teleop + 0.0.1 + Custom teleoperation mode for a differential rover using the PX4 ROS 2 interface. + + patrik_ark + MIT + + ament_cmake + + rclcpp + + + px4_ros2_cpp + geometry_msgs + + ament_lint_auto + ament_lint_common + + + ament_cmake + + \ No newline at end of file diff --git a/px4_roscon_workshop/teleop/README.md b/px4_roscon_workshop/teleop/README.md index 1a35c98..2579584 100644 --- a/px4_roscon_workshop/teleop/README.md +++ b/px4_roscon_workshop/teleop/README.md @@ -6,25 +6,10 @@ This packages offers uses PX4 custom modes and executor to teleop a drone. Launch gz [walls](https://github.com/PX4/PX4-gazebo-models/blob/e05f4312d3f28aa621157610584a4870406cb6d3/worlds/walls.sdf) world, you'll have to navigate inside narrow passages now. -First start the container, then run +First start the simulation ```sh -python3 /home/ubuntu/PX4-gazebo-models/simulation-gazebo --model_store /home/ubuntu/PX4-gazebo-models/ --world walls -``` - -Spawn model and attach PX4 SITL - -```sh -PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4013 PX4_PARAM_UXRCE_DDS_SYNCT=0 /home/ubuntu/px4_sitl/bin/px4 -w /home/ubuntu/px4_sitl/romfs -``` - -Here we used `PX4_SYS_AUTOSTART=4013` which set the Gazebo model to _x500_lidar_2d_. -Don't forget to start QGC too. - -When the simulation is running you can see the GZ topics: - -```sh -gz topic -l +make px4_sitl gz_x500_lidar_2d_walls ``` You can now launch the [common](../px4_roscon_workshop/README.md) launchfile @@ -39,6 +24,8 @@ and finally the `teleop` launchfile and the _keyboard_monitor_ node. ros2 launch teleop teleop.launch.py ``` +use the argument `px4_autopilot_path` (default value `'~/PX4-Autopilot'`) to set the path for your PX4 installation. + ```sh ros2 run teleop_twist_rpyt_keyboard teleop_twist_rpyt_keyboard ``` diff --git a/px4_roscon_workshop/teleop/TeleopExecutor.cpp b/px4_roscon_workshop/teleop/TeleopExecutor.cpp index 28bc574..68efe0e 100644 --- a/px4_roscon_workshop/teleop/TeleopExecutor.cpp +++ b/px4_roscon_workshop/teleop/TeleopExecutor.cpp @@ -5,11 +5,11 @@ using TeleopNodeWithExecutor = px4_ros2::NodeWithModeExecutor(state), static_cast(previous_result)); } - RCLCPP_INFO(_node.get_logger(), "Switched to state: %d", static_cast(state)); + RCLCPP_INFO(node().get_logger(), "Switched to state: %d", static_cast(state)); // Handle state-specific logic here switch (state) { case State::Takeoff: - RCLCPP_INFO(_node.get_logger(), "Initiating takeoff..."); + RCLCPP_INFO(node().get_logger(), "Initiating takeoff..."); takeoff( [this](px4_ros2::Result result) { switchToState(State::TeleOperation, result); @@ -62,7 +62,7 @@ void TeleopExecutor::switchToState(State state, px4_ros2::Result previous_result break; case State::WaitUntilDisarmed: waitUntilDisarmed([this](px4_ros2::Result result) { - RCLCPP_INFO(_node.get_logger(), "All states complete (%s)", resultToString(result)); + RCLCPP_INFO(node().get_logger(), "All states complete (%s)", resultToString(result)); }); break; } diff --git a/px4_roscon_workshop/teleop/TeleopExecutor.hpp b/px4_roscon_workshop/teleop/TeleopExecutor.hpp index 25f8631..7880fd0 100644 --- a/px4_roscon_workshop/teleop/TeleopExecutor.hpp +++ b/px4_roscon_workshop/teleop/TeleopExecutor.hpp @@ -7,16 +7,13 @@ class TeleopExecutor : public px4_ros2::ModeExecutorBase { public: - TeleopExecutor(rclcpp::Node &node, px4_ros2::ModeBase &owned_mode); + TeleopExecutor(px4_ros2::ModeBase &owned_mode); // See ModeExecutorBase void onActivate() override; void onDeactivate(DeactivateReason reason) override; private: - // ROS2 - rclcpp::Node &_node; - // State management enum class State { Takeoff, // Initial state, takeoff to a predefined altitude diff --git a/px4_roscon_workshop/teleop/launch/teleop.launch.py b/px4_roscon_workshop/teleop/launch/teleop.launch.py index 360445b..45a92ff 100644 --- a/px4_roscon_workshop/teleop/launch/teleop.launch.py +++ b/px4_roscon_workshop/teleop/launch/teleop.launch.py @@ -1,11 +1,42 @@ import os - from launch import LaunchDescription -from launch.actions import ExecuteProcess +from launch.actions import ExecuteProcess, DeclareLaunchArgument, OpaqueFunction from launch_ros.actions import LoadComposableNodes, Node from launch_ros.substitutions import FindPackageShare +from launch.substitutions import LaunchConfiguration from launch_ros.descriptions import ComposableNode +def _launch_setup(context): + px4_autopilot_path = os.path.expanduser( + LaunchConfiguration('px4_autopilot_path').perform(context) + ) + px4_gz_resource_path = os.path.join(px4_autopilot_path, 'Tools', 'simulation', 'gz') + arucotag_model_path = os.path.join(px4_gz_resource_path, 'models', 'arucotag') + return [ + # SetEnvironmentVariable( + # 'GZ_SIM_RESOURCE_PATH', + # ':'.join([os.path.join(px4_gz_resource_path, 'worlds'), os.path.join(px4_gz_resource_path, 'models')]) + # ), + ExecuteProcess( + cmd=[ + "gz", "service", + "-s", "/world/walls/create", + "--reqtype", "gz.msgs.EntityFactory", + "--reptype", "gz.msgs.Boolean", + "--timeout", "1000", + "--req", + ( + f'sdf_filename: "{arucotag_model_path}/model.sdf", ' + 'name: "arucotag", ' + 'pose: { position: { x: 8, y: -4.0, z: 0.001000 }, ' + 'orientation: { x: 0.0, y: 0.0, z: 0.0, w: 1.0 } }' + ) + ], + output="screen" + ) + ] + + def generate_launch_description(): pkg_share = FindPackageShare("teleop").find("teleop") @@ -13,10 +44,15 @@ def generate_launch_description(): bridge_config_file = os.path.join(pkg_share, "cfg", 'bridge.yaml') return LaunchDescription([ + DeclareLaunchArgument( + 'px4_autopilot_path', + default_value='~/PX4-Autopilot', + description='Path to PX4-Autopilot repository root (supports ~)', + ), Node( package="ros_gz_bridge", executable="parameter_bridge", - name="gz_clock_bridge", + name="gz_pointcloud_bridge", parameters=[ {"config_file": bridge_config_file} ] @@ -36,7 +72,7 @@ def generate_launch_description(): ComposableNode( package='tf2_ros', plugin='tf2_ros::StaticTransformBroadcasterNode', - name='map_to_odom_broadcaster', + name='base_link_to_link_broadcaster', parameters=[{ 'use_sim_time': True, 'translation.x': 0.0, @@ -47,7 +83,7 @@ def generate_launch_description(): 'rotation.z': 0.0, 'rotation.w': 1.0, 'frame_id': 'base_link', - 'child_frame_id': 'x500_lidar_2d_0/link/lidar_2d_v2' + 'child_frame_id': 'link' }] ), ComposableNode( @@ -69,21 +105,5 @@ def generate_launch_description(): ), ] ), - ExecuteProcess( - cmd=[ - "gz", "service", - "-s", "/world/walls/create", - "--reqtype", "gz.msgs.EntityFactory", - "--reptype", "gz.msgs.Boolean", - "--timeout", "1000", - "--req", - ( - 'sdf_filename: "/home/ubuntu/PX4-gazebo-models/models/arucotag/model.sdf", ' - 'name: "arucotag", ' - 'pose: { position: { x: 8, y: -4.0, z: 0.001000 }, ' - 'orientation: { x: 0.0, y: 0.0, z: 0.0, w: 1.0 } }' - ) - ], - output="screen" - ) + OpaqueFunction(function=_launch_setup) ]) \ No newline at end of file diff --git a/roscon-25-workshop.code-workspace b/roscon-25-workshop.code-workspace new file mode 100644 index 0000000..1f57966 --- /dev/null +++ b/roscon-25-workshop.code-workspace @@ -0,0 +1,40 @@ +{ + "folders": [ + { + "path": "." + }, + { + "path": "../px4-ros2-interface-lib" + }, + { + "path": "../px4_msgs" + }, + { + "path": "../Micro-XRCE-DDS-Agent" + }, + { + "path": "../.." + } + ], + "settings": { + "search.exclude": { + "**/build": true, + "**/install": true, + "**/log": true + }, + "files.watcherExclude": { + "**/build/**": true, + "**/install/**": true, + "**/log/**": true + }, + "C_Cpp.default.includePath": [ + "${workspaceFolder}/**", + "${workspaceFolder:px4-ros2-interface-lib}/px4_ros2_cpp/include" + ], + "C_Cpp.default.defines": [], + "C_Cpp.default.compilerPath": "/usr/bin/clang", + "C_Cpp.default.cStandard": "c17", + "C_Cpp.default.cppStandard": "c++17", + "C_Cpp.default.intelliSenseMode": "linux-clang-x64" + } +} \ No newline at end of file