This repository contains a python examples for offboard control on ROS2 with PX4
The px4_offboard package contains the following nodes
offboard_control.py: Example of offboard position control using position setpointsvisualizer.py: Used for visualizing vehicle states in Rviz
The source code is released under a BSD 3-Clause license.
- Author: Jaeyoung Lim
- Affiliation: Autonomous Systems Lab, ETH Zurich
Add the repository to the ros2 workspace
git clone https://github.com/Jaeyoung-Lim/px4-offboard.git
You will make use of 3 different terminals to run the offboard demo.
On the first terminal, run a SITL instance from the PX4 Autopilot firmware.
make px4_sitl gazebo
On the second terminal terminal, run the micro-ros-agent which will perform the mapping between Micro XRCE-DDS and RTPS. So that ROS2 Nodes are able to communicate with the PX4 micrortps_client.
micro-ros-agent udp4 --port 8888
In order to run the offboard position control example, open a third terminal and run the the node. This runs two ros nodes, which publishes offboard position control setpoints and the visualizer.
ros2 launch px4_offboard offboard_position_control.launch.py
In order to just run the visualizer,
ros2 launch px4_offboard visualize.launch.py