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Move PX4 Guide source into /docs (#24490)
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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# 위치 추정을 위한 비전 또는 모션 캡처 사용
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전역 위치 소스를 사용할 수 없거나 신뢰할 수 없는 경우(예: 실내나 다리 아래를 비행시)에, VIO(Visual Inertial Odometry) 및 MoCap(모션 캡처) 시스템을 사용하여 차량 내비게이션이 가능합니다.
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Both VIO and MoCap determine a vehicle's _pose_ (position and attitude) from "visual" information.
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그들 사이의 주요 차이점은 프레임 관점입니다.
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- VIO uses _onboard sensors_ to get pose data from the vehicle's perspective (see [egomotion](https://en.wikipedia.org/wiki/Visual_odometry#Egomotion)).
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- MoCap uses a system of _off-board cameras_ to get vehicle pose data in a 3D space (i.e. it is an external system that tells the vehicle its pose).
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두 시스템 유형의 포즈 데이터를 사용하여 PX4 자동조종장치의 로컬 위치 추정값(로컬 원점 기준)을 업데이트할 수 있으며, 선택적으로 차량 자세 추정을 융합할 수 있습니다. 또한 외부 포즈 시스템이 선형 속도 측정을 제공하는 경우에는 상태 추정 개선에 사용할 수 있습니다(선속도 측정의 융합은 EKF2에서만 지원됨).
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This topic explains how to configure a PX4-based system to get data from MoCap/VIO systems (either via ROS or some other MAVLink system) and more specifically how to set up MoCap systems like VICON and Optitrack, and vision-based estimation systems like [ROVIO](https://github.com/ethz-asl/rovio), [SVO](https://github.com/uzh-rpg/rpg_svo) and [PTAM](https://github.com/ethz-asl/ethzasl_ptam)).
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:::info
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The instructions differ depending on whether you are using the EKF2 or LPE estimator.
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:::
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## PX4 MAVLink 통합
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PX4 uses the following MAVLink messages for getting external position information, and maps them to [uORB topics](../middleware/uorb.md):
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| MAVLink | uORB |
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| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------- |
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| [VISION_POSITION_ESTIMATE](https://mavlink.io/en/messages/common.html#VISION_POSITION_ESTIMATE) | `vehicle_visual_odometry` |
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| [ODOMETRY](https://mavlink.io/en/messages/common.html#ODOMETRY) (`frame_id =` [MAV_FRAME_LOCAL_FRD](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_FRD)) | `vehicle_visual_odometry` |
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| [ATT_POS_MOCAP](https://mavlink.io/en/messages/common.html#ATT_POS_MOCAP) | `vehicle_mocap_odometry` |
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| [ODOMETRY](https://mavlink.io/en/messages/common.html#ODOMETRY) (`frame_id =` [MAV_FRAME_MOCAP_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_MOCAP_NED)) | `vehicle_mocap_odometry` |
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EKF2 only subscribes to `vehicle_visual_odometry` topics and can hence only process the first two messages
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(a MoCap system must generate these messages to work with EKF2). 주행 거리 측정 메시지는 선형 속도도 PX4로 전송 가능한 유일한 메시지입니다.
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LPE 추정기는 두 주제를 모두 구독하므로, 위의 모든 메시지를 처리할 수 있습니다.
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:::tip
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EKF2 is the default estimator used by PX4.
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LPE보다 테스트 및 지원이 더 잘 되므로, 우선적으로 사용하여야 합니다.
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:::
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메시지는 30Hz(공분산을 포함하는 경우)와 50Hz 사이에서 스트리밍되어야 합니다.
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메시지 비율이 너무 낮으면, EKF2가 외부 비전 메시지를 융합하지 않습니다.
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The following MAVLink "vision" messages are not currently supported by PX4:
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[GLOBAL_VISION_POSITION_ESTIMATE](https://mavlink.io/en/messages/common.html#GLOBAL_VISION_POSITION_ESTIMATE),
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[VISION_SPEED_ESTIMATE](https://mavlink.io/en/messages/common.html#VISION_SPEED_ESTIMATE),
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[VICON_POSITION_ESTIMATE](https://mavlink.io/en/messages/common.html#VICON_POSITION_ESTIMATE)
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## 기준 프레임
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PX4 uses FRD (X **F**orward, Y **R**ight and Z **D**own) for the local body frame as well for the reference frame. When using the heading of the magnetometer, the PX4 reference frame x axis will be aligned with north, so therefore it is called NED (X **N**orth, Y **E**ast, Z **D**own). 대부분의 경우 PX4 추정기의 기준 좌표계와 외부 포즈 추정 중 하나가 일치하지 않습니다.
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Therefore the reference frame of the external pose estimate is named differently, it is called [MAV_FRAME_LOCAL_FRD](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_FRD).
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기준 프레임의 소스에 따라 MAVLink Vision/MoCap 메시지를 보내기 전에, 포즈 추정값에 사용자 정의 변환을 적용하여야 합니다.
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이것은 PX4 규칙에 맞도록 포즈 추정의 상위 및 하위 프레임 방향을 변경하는 데 필요합니다. Have a look at the MAVROS [_odom_ plugin](https://github.com/mavlink/mavros/blob/master/mavros_extras/src/plugins/odom.cpp) for the necessary transformations.
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:::tip
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ROS users can find more detailed instructions below in [Reference Frames and ROS](#reference-frames-and-ros).
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:::
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For example, if using the Optitrack framework the local frame has $x{}$ and $z{}$ on the horizontal plane (_x_ front and _z_ right) while _y_ axis is vertical and pointing up.
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간단한 트릭은 NED 규칙을 얻기 위해 축을 변경하는 것입니다.
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If `x_{mav}`, `y_{mav}` and `z_{mav}` are the coordinates that are sent through MAVLink as position feedback, then we obtain:
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```
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x_{mav} = x_{mocap}
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y_{mav} = z_{mocap}
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z_{mav} = - y_{mocap}
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```
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Regarding the orientation, keep the scalar part _w_ of the quaternion the same and swap the vector part _x_, _y_ and _z_ in the same way.
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이 트릭을 모든 시스템에 적용할 수 있습니다. NED 프레임을 가져와야 하는 경우 MoCap 출력을 보고 그에 따라 축을 교체하십시오.
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## EKF2 튜닝과 설정
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참고: 간략한 개요입니다.
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For more detailed information, check the [Using PX4's Navigation Filter (EKF2)](../advanced_config/tuning_the_ecl_ekf.md)
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The following parameters must be set to use external position information with EKF2 (these can be set in _QGroundControl_ > **Vehicle Setup > Parameters > EKF2**).
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| 매개변수 | 외부 위치 추정 설정 |
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| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL) | Set _horizontal position fusion_, _vertical vision fusion_, _velocity fusion_, and _yaw fusion_, according to your desired fusion model. |
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| [EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF) | Set to _Vision_ to use the vision as the reference source for altitude estimation. |
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| [EKF2_EV_DELAY](../advanced_config/parameter_reference.md#EKF2_EV_DELAY) | 측정 타임스탬프와 "실제" 캡처 시간 간의 차이로 설정합니다. For more information see [below](#tuning-EKF2_EV_DELAY). |
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| [EKF2_EV_POS_X](../advanced_config/parameter_reference.md#EKF2_EV_POS_X), [EKF2_EV_POS_Y](../advanced_config/parameter_reference.md#EKF2_EV_POS_Y), [EKF2_EV_POS_Z](../advanced_config/parameter_reference.md#EKF2_EV_POS_Z) | 로봇의 몸체 프레임을 기준으로 비전 센서(또는 MoCap 마커)의 위치를 설정합니다. |
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You can also disable GNSS, baro and range finder fusion using [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL), [EKF2_BARO_CTRL](../advanced_config/parameter_reference.md#EKF2_BARO_CTRL) and [EKF2_RNG_CTRL](../advanced_config/parameter_reference.md#EKF2_RNG_CTRL), respectively.
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:::tip
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Reboot the flight controller in order for parameter changes to take effect.
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:::
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<a id="tuning-EKF2_EV_DELAY"></a>
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#### EKF2_EV_DELAY 튜닝
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[EKF2_EV_DELAY](../advanced_config/parameter_reference.md#EKF2_EV_DELAY) is the _Vision Position Estimator delay relative to IMU measurements_.
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즉, 비전 시스템 타임스탬프와 IMU 시계(EKF2의 "기본 시계")에 의해 기록되었을 "실제" 캡처 시간 간의 차이입니다.
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기술적으로, 이것은 MoCap과 (예를 들어) ROS 컴퓨터 사이에 정확한 타임스탬프 (도착 시간이 아님)와 시간 동기화 (예 : NTP)가있는 경우 0으로 설정할 수 있습니다.
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In reality, this needs some empirical tuning since delays in the entire MoCap->PX4 chain are very setup-specific.
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시스템이 완전히 동기화된 체인으로 설정되는 경우는 매우 드뭅니다.
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IMU 속도와 EV 속도 간의 오프셋을 확인하여, 로그에서 대략적인 지연 추정치를 계산할 수 있습니다.
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To enable logging of EV rates set bit 7 (Computer Vision and Avoidance) of [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE).
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:::info
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A plot of external data vs. onboard estimate (as above) can be generated using [FlightPlot](../log/flight_log_analysis.md#flightplot) or similar flight analysis tools.
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At time of writing (July 2021) neither [Flight Review](../log/flight_log_analysis.md#flight-review-online-tool) nor [MAVGCL](../log/flight_log_analysis.md#mavgcl) support this functionality.
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:::
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이 값은 동적 기동 중에 가장 낮은 EKF 혁신을 산출하는 값을 찾기 위하여, 매개변수를 변경하여 추가 튜닝할 수 있습니다.
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## LPE 튜닝과 설정
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You will first need to [switch to the LPE estimator](../advanced/switching_state_estimators.md) by setting the following parameters: [LPE_EN](../advanced_config/parameter_reference.md#LPE_EN) (1), [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN) (0), [ATT_EN](../advanced_config/parameter_reference.md#ATT_EN) (0).
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:::info
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If targeting `px4_fmu-v2` hardware you will also need to use a firmware version that includes the LPE module (firmware for other FMU-series hardware includes both LPE and EKF).
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The LPE version can be found in the zip file for each PX4 release or it can be built from source using the build command `make px4_fmu-v2_lpe`.
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See [Building the Code](../dev_setup/building_px4.md) for more details.
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:::
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### 외부 포즈 입력 활성화
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The following parameters must be set to use external position information with LPE (these can be set in _QGroundControl_ > **Vehicle Setup > Parameters > Local Position Estimator**).
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| 매개변수 | 외부 위치 추정 설정 |
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| --------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------- |
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| [LPE_FUSION](../advanced_config/parameter_reference.md#LPE_FUSION) | Vision integration is enabled if _fuse vision position_ is checked (it is enabled by default). |
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| [ATT_EXT_HDG_M](../advanced_config/parameter_reference.md#ATT_EXT_HDG_M) | 외부 제목 통합을 활성화하려면 1 또는 2로 설정합니다. 1로 설정하면 비전이 사용되는 반면, 2로 설정하면 MoCap 제목 사용이 활성화됩니다. |
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### 기압계 퓨전 비활성화
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VIO 또는 MoCap 정보에서 이미 매우 정확한 고도를 사용할 수 있는 경우에는, LPE에서 기압 보정을 비활성화하여 Z축의 드리프트를 줄이는 것이 유용합니다.
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This can be done by in _QGroundControl_ by unchecking the _fuse baro_ option in the [LPE_FUSION](../advanced_config/parameter_reference.md#LPE_FUSION) parameter.
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### 노이즈 매개변수 조정
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If your vision or MoCap data is highly accurate, and you just want the estimator to track it tightly, you should reduce the standard deviation parameters: [LPE_VIS_XY](../advanced_config/parameter_reference.md#LPE_VIS_XY) and [LPE_VIS_Z](../advanced_config/parameter_reference.md#LPE_VIS_Z) (for VIO) or [LPE_VIC_P](../advanced_config/parameter_reference.md#LPE_VIC_P) (for MoCap).
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표준변차 매개변수를 줄이면, 추정자가 들어오는 포즈 추정치를 더 신뢰하게 됩니다.
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허용된 최소값보다 낮게 설정하고, 강제 저장해야 할 수도 있습니다.
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:::tip
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If performance is still poor, try increasing the [LPE_PN_V](../advanced_config/parameter_reference.md#LPE_PN_V) parameter.
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이로 인해 추정자는 속도 추정 중에 측정값을 더 신뢰하게 됩니다.
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:::
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## Enabling Auto Modes with a Local Position
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All PX4 automatic flight modes (such as [Mission](../flight_modes_mc/mission.md), [Return](../flight_modes_mc/return.md), [Land](../flight_modes_mc/land.md), [Hold](../flight_modes_mc/land.md), [Orbit](../flight_modes_mc/orbit.md))) require a _global_ position estimate, which would normally come from a GPS/GNSS system.
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Systems that only have a _local_ position estimate (from MOCAP, VIO, or similar) can use the [SET_GPS_GLOBAL_ORIGIN](https://mavlink.io/en/messages/common.html#SET_GPS_GLOBAL_ORIGIN) MAVLink message to set the origin of the EKF to a particular global location.
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EKF will then provide a global position estimate based on origin and local frame position.
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This can then be used when planning and executing indoor missions, or to set a local return point, and so on.
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## ROS 연동
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ROS is not _required_ for supplying external pose information, but is highly recommended as it already comes with good integrations with VIO and MoCap systems.
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PX4는 위와 같이 설정되어 있어야 합니다.
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### 포즈 데이터를 ROS로 가져오기
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VIO와 MoCap 시스템은 포즈 데이터를 얻는 방법이 다르며, 자체 설정과 주제가 있습니다.
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The setup for specific systems is covered [below](#setup_specific_systems).
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다른 시스템의 경우에는 공급업체의 설정 문서를 참고하십시오.
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<a id="relaying_pose_data_to_px4"></a>
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### 포즈 데이터를 PX4로 중계
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MAVROS에는 다음 파이프라인을 사용하여 VIO 또는 MoCap 시스템에서 시각적 추정을 릴레이하는 플러그인이 있습니다.
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| ROS | MAVLink | uORB |
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| ----------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------- |
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| /mavros/vision_pose/pose | [VISION_POSITION_ESTIMATE](https://mavlink.io/en/messages/common.html#VISION_POSITION_ESTIMATE) | `vehicle_visual_odometry` |
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| /mavros/odometry/out (`frame_id = odom`, `child_frame_id = base_link`) | [ODOMETRY](https://mavlink.io/en/messages/common.html#ODOMETRY) (`frame_id =` [MAV_FRAME_LOCAL_FRD](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_FRD)) | `vehicle_visual_odometry` |
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| /mavros/mocap/pose | [ATT_POS_MOCAP](https://mavlink.io/en/messages/common.html#ATT_POS_MOCAP) | `vehicle_mocap_odometry` |
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| /mavros/odometry/out (`frame_id = odom`, `child_frame_id = base_link`) | [ODOMETRY](https://mavlink.io/en/messages/common.html#ODOMETRY) (`frame_id =` [MAV_FRAME_LOCAL_FRD](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_FRD)) | `vehicle_mocap_odometry` |
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위의 파이프라인 중 하나를 LPE와 함께 사용할 수 있습니다.
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EKF2로 작업하는 경우 "비전" 파이프라인만 지원됩니다.
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To use MoCap data with EKF2 you will have to [remap](http://wiki.ros.org/roslaunch/XML/remap) the pose topic that you get from MoCap:
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- MoCap ROS topics of type `geometry_msgs/PoseStamped` or `geometry_msgs/PoseWithCovarianceStamped` must be remapped to `/mavros/vision_pose/pose`.
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The `geometry_msgs/PoseStamped` topic is most common as MoCap doesn't usually have associated covariances to the data.
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- If you get data through a `nav_msgs/Odometry` ROS message then you will need to remap it to `/mavros/odometry/out`, making sure to update the `frame_id` and `child_frame_id` accordingly.
|
||||
- The odometry frames `frame_id = odom`, `child_frame_id = base_link` can be changed by updating the file in `mavros/launch/px4_config.yaml`. However, the current version of mavros (`1.3.0`) needs to be able to use the tf tree to find a transform from `frame_id` to the hardcoded frame `odom_ned`. The same applies to the `child_frame_id`, which needs to be connected in the tf tree to the hardcoded frame `base_link_frd`. If you are using mavros `1.2.0` and you didn't update the file `mavros/launch/px4_config.yaml`, then you can safely use the odometry frames `frame_id = odom`, `child_frame_id = base_link` without much worry.
|
||||
- Note that if you are sending odometry data to px4 using `child_frame_id = base_link`, then you need to make sure that the `twist` portion of the `nav_msgs/Odometry` message is **expressed in body frame**, **not in inertial frame!!!!!**.
|
||||
|
||||
### 기준 프레임과 ROS
|
||||
|
||||
ROS와 PX4에서 사용하는 로컬과 전역 프레임은 같지 않습니다.
|
||||
|
||||
| 프레임 | PX4 | ROS |
|
||||
| --- | ------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------- |
|
||||
| 몸체 | FRD (X **F**orward, Y **R**ight, Z **D**own) | FLU (X **F**orward, Y **L**eft, Z **U**p), usually named `base_link` |
|
||||
| 전역 | FRD or NED (X **N**orth, Y **E**ast, Z **D**own) | FLU or ENU (X **E**ast, Y **N**orth, Z **U**p), with the naming being `odom` or `map` |
|
||||
|
||||
:::tip
|
||||
See [REP105: Coordinate Frames for Mobile Platforms](http://www.ros.org/reps/rep-0105.html) for more information about ROS frames.
|
||||
:::
|
||||
|
||||
두 프레임 모두 아래 이미지에 표시됩니다(왼쪽의 FRD/오른쪽의 FLU).
|
||||
|
||||
|
||||
|
||||
외부 방향 추정시 EKF2를 사용하면, 자북을 무시하거나 자북에 대한 방향 오프셋을 계산하고 보상할 수 있습니다. Depending on your choice the yaw angle is given with respect to either magnetic north or local _x_.
|
||||
|
||||
:::info
|
||||
When creating the rigid body in the MoCap software, remember to first align the robot's local _x_ axis with the world _x_ axis otherwise the yaw estimate will have an offset. 이렇게 하면 외부 포즈 추정 융합이 제대로 작동하지 않을 수 있습니다.
|
||||
본체와 기준 좌표계가 정렬될 때 요 각도는 0이어야 합니다.
|
||||
:::
|
||||
|
||||
MAVROS를 사용하면 이 작업이 간단합니다.
|
||||
ROS는 ENU 프레임을 관례로 사용하므로, ENU에서 위치 피드백을 제공하여야 합니다.
|
||||
If you have an Optitrack system you can use [mocap_optitrack](https://github.com/ros-drivers/mocap_optitrack) node which streams the object pose on a ROS topic already in ENU.
|
||||
With a remapping you can directly publish it on `mocap_pose_estimate` as it is without any transformation and MAVROS will take care of NED conversions.
|
||||
|
||||
MAVROS 주행 거리 측정 플러그인을 사용하면, 좌표 프레임을 쉽게 처리할 수 있습니다.
|
||||
ROS의 tf 패키지를 사용합니다. 외부 포즈 시스템에는 PX4와 일치하지 않는 완전히 다른 프레임 규칙이 있을 수 있습니다.
|
||||
외부 포즈 추정의 바디 프레임은 MOCAP 소프트웨어에서 바디 프레임을 설정하는 방법이나 드론에 VIO 센서를 장착하는 방법에 따라 달라질 수 있습니다.
|
||||
MAVROS 주행 거리 측정 플러그인은 MAVROS에 의해 알려진 기체의 FRD 또는 FLU 본체 프레임과 관련하여 외부 포즈의 자식 프레임이 어떻게 향하고 있는 지 알아야 합니다.
|
||||
따라서 외부 포즈의 바디 프레임을 tf 트리에 추가하여야 합니다. 이것은 ROS 시작 파일에 다음 줄의 수정된 버전을 포함하여 수행할 수 있습니다.
|
||||
|
||||
```
|
||||
<node pkg="tf" type="static_transform_publisher" name="tf_baseLink_externalPoseChildFrame"
|
||||
args="0 0 0 <yaw> <pitch> <roll> base_link <external_pose_child_frame> 1000"/>
|
||||
```
|
||||
|
||||
Make sure that you change the values of yaw, pitch and roll such that it properly attaches the external pose's body frame to the `base_link` or `base_link_frd`.
|
||||
Have a look at the [tf package](http://wiki.ros.org/tf#static_transform_publisher) for further help on how to specify the transformation between the frames.
|
||||
rviz를 사용하여 프레임을 올바르게 부착했는 지 확인할 수 있습니다. The name of the `external_pose_child_frame` has to match the child_frame_id of your `nav_msgs/Odometry` message.
|
||||
외부 포즈의 기준 프레임에도 동일하게 적용됩니다. You have to attach the reference frame of the external pose as child to either the `odom` or `odom_frd` frame. 따라서, 다음 코드 줄을 적절하게 조정하십시오.
|
||||
|
||||
```
|
||||
<node pkg="tf" type="static_transform_publisher" name="tf_odom_externalPoseParentFrame"
|
||||
args="0 0 0 <yaw> <pitch> <roll> odom <external_pose_parent_frame> 1000"/>
|
||||
```
|
||||
|
||||
If the reference frame has the z axis pointing upwards you can attached it without any rotation (yaw=0, pitch=0, roll=0) to the `odom` frame.
|
||||
The name of `external_pose_parent_frame` has to match the frame_id of the odometry message.
|
||||
|
||||
:::info
|
||||
When using the MAVROS _odom_ plugin, it is important that no other node is publishing a transform between the external pose's reference and child frame.
|
||||
This might break the _tf_ tree.
|
||||
:::
|
||||
|
||||
<a id="setup_specific_systems"></a>
|
||||
|
||||
## 특정 시스템 설정
|
||||
|
||||
### OptiTrack MoCap
|
||||
|
||||
The following steps explain how to feed position estimates from an [OptiTrack](https://optitrack.com/motion-capture-robotics/) system to PX4.
|
||||
MoCap 시스템이 보정된 것으로 가정합니다.
|
||||
See [this video](https://www.youtube.com/watch?v=cNZaFEghTBU) for a tutorial on the calibration process.
|
||||
|
||||
#### Steps on the _Motive_ MoCap software
|
||||
|
||||
- Align your robot's forward direction with the [system +x-axis](https://v20.wiki.optitrack.com/index.php?title=Template:Coordinate_System)
|
||||
- [Define a rigid body in the Motive software](https://www.youtube.com/watch?v=1e6Qqxqe-k0). Give the robot a name that does not contain spaces, e.g. `robot1` instead of `Rigidbody 1`
|
||||
- [Enable Frame Broadacst and VRPN streaming](https://www.youtube.com/watch?v=yYRNG58zPFo)
|
||||
- 위쪽 축을 Z축으로 설정합니다(기본값은 Y).
|
||||
|
||||
#### 포즈 데이터를 ROS로 가져오기
|
||||
|
||||
- Install the `vrpn_client_ros` package
|
||||
- 다음 명령어로 개별 주제에 대한 각 강체의 포즈를 얻을 수 있습니다.
|
||||
```sh
|
||||
roslaunch vrpn_client_ros sample.launch server:=<mocap machine ip>
|
||||
```
|
||||
|
||||
If you named the rigidbody as `robot1`, you will get a topic like `/vrpn_client_node/robot1/pose`
|
||||
|
||||
#### 포즈 데이터 중계/재매핑
|
||||
|
||||
MAVROS provides a plugin to relay pose data published on `/mavros/vision_pose/pose` to PX4.
|
||||
Assuming that MAVROS is running, you just need to **remap** the pose topic that you get from MoCap `/vrpn_client_node/<rigid_body_name>/pose` directly to `/mavros/vision_pose/pose`.
|
||||
Note that there is also a `mocap` topic that MAVROS provides to feed `ATT_POS_MOCAP` to PX4, but it is not applicable for EKF2.
|
||||
그러나 LPE에는 적용됩니다.
|
||||
|
||||
:::info
|
||||
Remapping pose topics is covered above [Relaying pose data to PX4](#relaying_pose_data_to_px4) (`/vrpn_client_node/<rigid_body_name>/pose` is of type `geometry_msgs/PoseStamped`).
|
||||
:::
|
||||
|
||||
위에서 설명한 대로 EKF2 매개변수를 설정하였으면, 이제 PX4가 설정되고 MoCap 데이터를 통합합니다.
|
||||
|
||||
이제 첫 번째 비행을 진행할 준비가 되었습니다.
|
||||
|
||||
## 첫 번째 비행
|
||||
|
||||
위에서 설명한 (특정) 시스템 중 하나를 설정하였으면, 이제 테스트할 준비가 되었습니다.
|
||||
아래 지침은 MoCap 및 VIO 시스템에서 수행하는 방법을 설명합니다.
|
||||
|
||||
### 외부 추정 확인
|
||||
|
||||
첫 비행 전에 다음을 확인하십시오.
|
||||
|
||||
- Set the PX4 parameter `MAV_ODOM_LP` to 1.
|
||||
PX4 will then stream back the received external pose as MAVLink [ODOMETRY](https://mavlink.io/en/messages/common.html#ODOMETRY) messages.
|
||||
- You can check these MAVLink messages with the _QGroundControl_ [MAVLink Inspector](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_inspector.html)
|
||||
In order to do this, yaw the vehicle until the quaternion of the `ODOMETRY` message is very close to a unit quaternion. (w=1, x=y=z=0)
|
||||
- 이 시점에서 몸체 프레임은 외부 포즈 시스템의 기준 프레임과 정렬됩니다.
|
||||
차량을 구르거나 피칭하지 않고 단위 쿼터니언에 가까운 쿼터니언을 얻을 수 없다면, 프레임에 여전히 피치 또는 롤 오프셋이 있을 수 있습니다.
|
||||
이 경우에는 더 이상 진행하지 말고, 좌표 프레임을 다시 확인하십시오.
|
||||
- 정렬되면 지면에서 차량을 들어올릴 수 있으며, 위치의 z 좌표가 감소하는 것을 볼 수 있습니다.
|
||||
차량을 앞쪽으로 움직이면, 위치의 x 좌표가 증가합니다.
|
||||
차량을 오른 쪽으로 이동하면, y 좌표는 증가합니다.
|
||||
외부 포즈 시스템에서 선형 속도도 전송하는 경우에는, 선형 속도를 확인하여야 합니다.
|
||||
Check that the linear velocities are in expressed in the _FRD_ body frame reference frame.
|
||||
- Set the PX4 parameter `MAV_ODOM_LP` back to 0. PX4는 이 메시지의 스트리밍을 중지합니다.
|
||||
|
||||
이러한 단계가 유지되면, 첫 번째 비행을 시도할 수 있습니다.
|
||||
|
||||
로봇을 바닥에 놓고, MoCap 피드백 스트리밍을 시작합니다.
|
||||
왼쪽(스로틀) 스틱을 내리고, 모터를 작동시킵니다.
|
||||
|
||||
이때 왼쪽 스틱을 가장 낮은 위치에 놓고, 위치 제어로 전환합니다.
|
||||
초록불이 켜져야 합니다.
|
||||
녹색 표시등은 위치 피드백을 사용할 수 있고, 위치 제어가 활성화되었음을 알려줍니다.
|
||||
|
||||
왼쪽 스틱을 가운데에 놓으면, 데드존입니다.
|
||||
이 스틱 값으로 로봇은 고도를 유지합니다. 스틱을 올리면 기준 고도가 증가하고, 값을 낮추면 감소합니다.
|
||||
x와 y의 오른쪽 스틱에 대해서도 동일합니다.
|
||||
|
||||
왼쪽 스틱의 값을 높이면 로봇이 이륙합니다. 바로 중간에 다시 놓습니다. 위치를 유지할 수 있는 지 확인하십시오.
|
||||
|
||||
If it works, you may want to set up an [offboard](offboard_control.md) experiment by sending position-setpoint from a remote ground station.
|
||||
@@ -0,0 +1 @@
|
||||
<Redirect to="../ros2/" />
|
||||
@@ -0,0 +1,368 @@
|
||||
# MAVROS에서 PX4로 사용자 정의 메시지 전송
|
||||
|
||||
:::warning
|
||||
This article has been tested against:
|
||||
|
||||
- **Ubuntu:** 20.04
|
||||
- **ROS:** Noetic
|
||||
- **PX4 Firmware:** v1.13
|
||||
|
||||
그러나 이러한 단계는 상당히 일반적이므로 수정이 거의 없이 다른 배포판/버전에서 작동합니다.
|
||||
:::
|
||||
|
||||
<!-- Content reproduced with permission from @JoonmoAhn in https://github.com/JoonmoAhn/Sending-Custom-Message-from-MAVROS-to-PX4/issues/1 -->
|
||||
|
||||
## MAVROS 설치
|
||||
|
||||
Follow _Source Installation_ instructions from [mavlink/mavros](https://github.com/mavlink/mavros/blob/master/mavros/index.md) to install "ROS Kinetic".
|
||||
|
||||
## MAVROS
|
||||
|
||||
1. We start by creating a new MAVROS plugin, in this example named **keyboard_command.cpp** (in **workspace/src/mavros/mavros_extras/src/plugins**) by using the code below:
|
||||
|
||||
The code subscribes a 'char' message from ROS topic `/mavros/keyboard_command/keyboard_sub` and sends it as a MAVLink message.
|
||||
|
||||
```c
|
||||
#include <mavros/mavros_plugin.h>
|
||||
#include <pluginlib/class_list_macros.h>
|
||||
#include <iostream>
|
||||
#include <std_msgs/Char.h>
|
||||
|
||||
namespace mavros {
|
||||
namespace extra_plugins{
|
||||
|
||||
class KeyboardCommandPlugin : public plugin::PluginBase {
|
||||
public:
|
||||
KeyboardCommandPlugin() : PluginBase(),
|
||||
nh("~keyboard_command")
|
||||
|
||||
{ };
|
||||
|
||||
void initialize(UAS &uas_)
|
||||
{
|
||||
PluginBase::initialize(uas_);
|
||||
keyboard_sub = nh.subscribe("keyboard_sub", 10, &KeyboardCommandPlugin::keyboard_cb, this);
|
||||
};
|
||||
|
||||
Subscriptions get_subscriptions()
|
||||
{
|
||||
return {/* RX disabled */ };
|
||||
}
|
||||
|
||||
private:
|
||||
ros::NodeHandle nh;
|
||||
ros::Subscriber keyboard_sub;
|
||||
|
||||
void keyboard_cb(const std_msgs::Char::ConstPtr &req)
|
||||
{
|
||||
std::cout << "Got Char : " << req->data << std::endl;
|
||||
mavlink::common::msg::KEY_COMMAND kc {};
|
||||
kc.command = req->data;
|
||||
UAS_FCU(m_uas)->send_message_ignore_drop(kc);
|
||||
}
|
||||
};
|
||||
} // namespace extra_plugins
|
||||
} // namespace mavros
|
||||
|
||||
PLUGINLIB_EXPORT_CLASS(mavros::extra_plugins::KeyboardCommandPlugin, mavros::plugin::PluginBase)
|
||||
```
|
||||
|
||||
2. Edit **mavros_plugins.xml** (in **workspace/src/mavros/mavros_extras**) and add the following lines:
|
||||
```xml
|
||||
<class name="keyboard_command" type="mavros::extra_plugins::KeyboardCommandPlugin" base_class_type="mavros::plugin::PluginBase">
|
||||
<description>Accepts keyboard command.</description>
|
||||
</class>
|
||||
```
|
||||
|
||||
3. Edit **CMakeLists.txt** (in **workspace/src/mavros/mavros_extras**) and add the following line in `add_library`.
|
||||
```cmake
|
||||
add_library(
|
||||
...
|
||||
src/plugins/keyboard_command.cpp
|
||||
)
|
||||
```
|
||||
|
||||
4. Inside **common.xml** in (**workspace/src/mavlink/message_definitions/v1.0**), copy the following lines to add your MAVLink message:
|
||||
```xml
|
||||
...
|
||||
<message id="229" name="KEY_COMMAND">
|
||||
<description>Keyboard char command.</description>
|
||||
<field type="char" name="command"> </field>
|
||||
</message>
|
||||
...
|
||||
```
|
||||
|
||||
## PX4 수정사항
|
||||
|
||||
1. Inside **common.xml** (in **PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0**), add your MAVLink message as following (same procedure as for MAVROS section above):
|
||||
|
||||
```xml
|
||||
...
|
||||
<message id="229" name="KEY_COMMAND">
|
||||
<description>Keyboard char command.</description>
|
||||
<field type="char" name="command"> </field>
|
||||
</message>
|
||||
...
|
||||
```
|
||||
|
||||
:::warning
|
||||
Make sure that the **common.xml** files in the following directories are exactly the same:
|
||||
|
||||
- `PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0`
|
||||
- `workspace/src/mavlink/message_definitions/v1.0`
|
||||
are exactly the same.
|
||||
|
||||
:::
|
||||
|
||||
2. Make your own uORB message file **key_command.msg** in (PX4-Autopilot/msg). 이 예에서 "key_command.msg"에는 다음 코드만 있습니다.
|
||||
|
||||
```
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
char cmd
|
||||
```
|
||||
|
||||
Then, in **CMakeLists.txt** (in **PX4-Autopilot/msg**), include:
|
||||
|
||||
```cmake
|
||||
set(
|
||||
...
|
||||
key_command.msg
|
||||
)
|
||||
```
|
||||
|
||||
3. Edit **mavlink_receiver.h** (in **PX4-Autopilot/src/modules/mavlink**)
|
||||
|
||||
```cpp
|
||||
...
|
||||
#include <uORB/topics/key_command.h>
|
||||
...
|
||||
class MavlinkReceiver
|
||||
{
|
||||
...
|
||||
private:
|
||||
void handle_message_key_command(mavlink_message_t *msg);
|
||||
...
|
||||
orb_advert_t _key_command_pub{nullptr};
|
||||
}
|
||||
```
|
||||
|
||||
4. Edit **mavlink_receiver.cpp** (in **PX4-Autopilot/src/modules/mavlink**).
|
||||
여기에서 PX4는 ROS에서 보낸 MAVLink 메시지를 수신하고, 이를 uORB 주제로 게시합니다.
|
||||
```cpp
|
||||
...
|
||||
void MavlinkReceiver::handle_message(mavlink_message_t *msg)
|
||||
{
|
||||
...
|
||||
case MAVLINK_MSG_ID_KEY_COMMAND:
|
||||
handle_message_key_command(msg);
|
||||
break;
|
||||
...
|
||||
}
|
||||
...
|
||||
void
|
||||
MavlinkReceiver::handle_message_key_command(mavlink_message_t *msg)
|
||||
{
|
||||
mavlink_key_command_t man;
|
||||
mavlink_msg_key_command_decode(msg, &man);
|
||||
|
||||
struct key_command_s key = {};
|
||||
|
||||
key.timestamp = hrt_absolute_time();
|
||||
key.cmd = man.command;
|
||||
|
||||
if (_key_command_pub == nullptr) {
|
||||
_key_command_pub = orb_advertise(ORB_ID(key_command), &key);
|
||||
|
||||
} else {
|
||||
orb_publish(ORB_ID(key_command), _key_command_pub, &key);
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
5. 예제 구독자 모듈처럼 자신만의 uORB 주제 구독자를 생성합니다.
|
||||
이 예에서는 (/PX4-Autopilot/src/modules/key_receiver)에서 모델을 생성할 수 있습니다.
|
||||
In this directory, create three files **CMakeLists.txt**, **key_receiver.cpp**, **Kconfig**
|
||||
Each one looks like the following.
|
||||
|
||||
-CMakeLists.txt
|
||||
|
||||
```cmake
|
||||
px4_add_module(
|
||||
MODULE modules__key_receiver
|
||||
MAIN key_receiver
|
||||
STACK_MAIN 2500
|
||||
STACK_MAX 4000
|
||||
SRCS
|
||||
key_receiver.cpp
|
||||
DEPENDS
|
||||
|
||||
)
|
||||
```
|
||||
|
||||
-key_receiver.cpp
|
||||
|
||||
```
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/tasks.h>
|
||||
#include <px4_platform_common/posix.h>
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
#include <poll.h>
|
||||
#include <string.h>
|
||||
#include <math.h>
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/key_command.h>
|
||||
|
||||
extern "C" __EXPORT int key_receiver_main(int argc, char **argv);
|
||||
|
||||
int key_receiver_main(int argc, char **argv)
|
||||
{
|
||||
int key_sub_fd = orb_subscribe(ORB_ID(key_command));
|
||||
orb_set_interval(key_sub_fd, 200); // limit the update rate to 200ms
|
||||
|
||||
px4_pollfd_struct_t fds[] = {
|
||||
{ .fd = key_sub_fd, .events = POLLIN },
|
||||
};
|
||||
|
||||
int error_counter = 0;
|
||||
|
||||
for (int i = 0; i < 10; i++)
|
||||
{
|
||||
int poll_ret = px4_poll(fds, 1, 1000);
|
||||
|
||||
if (poll_ret == 0)
|
||||
{
|
||||
PX4_ERR("Got no data within a second");
|
||||
}
|
||||
|
||||
else if (poll_ret < 0)
|
||||
{
|
||||
if (error_counter < 10 || error_counter % 50 == 0)
|
||||
{
|
||||
PX4_ERR("ERROR return value from poll(): %d", poll_ret);
|
||||
}
|
||||
|
||||
error_counter++;
|
||||
}
|
||||
|
||||
else
|
||||
{
|
||||
if (fds[0].revents & POLLIN)
|
||||
{
|
||||
struct key_command_s input;
|
||||
orb_copy(ORB_ID(key_command), key_sub_fd, &input);
|
||||
PX4_INFO("Received Char : %c", input.cmd);
|
||||
}
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
```
|
||||
|
||||
-Kconfig
|
||||
|
||||
```
|
||||
menuconfig MODULES_KEY_RECEIVER
|
||||
bool "key_receiver"
|
||||
default n
|
||||
---help---
|
||||
Enable support for key_receiver
|
||||
|
||||
```
|
||||
|
||||
For a more detailed explanation see the topic [Writing your first application](../modules/hello_sky.md).
|
||||
|
||||
6. Lastly, add your module in the **default.px4board** file correspondent to your board in **PX4-Autopilot/boards/**.
|
||||
For example:
|
||||
-for the Pixhawk 4, add the following code in **PX4-Autopilot/boards/px4/fmu-v5/default.px4board**:
|
||||
-for the SITL, add the following code in **PX4-Autopilot/boards/px4/sitl/default.px4board**
|
||||
|
||||
```
|
||||
CONFIG_MODULES_KEY_RECEIVER=y
|
||||
```
|
||||
|
||||
MODULES
|
||||
...
|
||||
|
||||
## Building
|
||||
|
||||
### Build for ROS
|
||||
|
||||
1. In your workspace enter: `catkin build`.
|
||||
|
||||
2. Beforehand, you have to set your "px4.launch" in (/workspace/src/mavros/mavros/launch).
|
||||
Edit "px4.launch" as below.
|
||||
If you are using USB to connect your computer with Pixhawk, you have to set "fcu_url" as shown below.
|
||||
But, if you are using CP2102 to connect your computer with Pixhawk, you have to replace "ttyACM0" with "ttyUSB0".
|
||||
And if you are using the SITL to connect to your terminal, you have to replace "/dev/ttyACM0:57600" with "udp://:14540@127.0.0.1:14557".
|
||||
Modifying "gcs_url" is to connect your Pixhawk with UDP, because serial communication cannot accept MAVROS, and your nutshell connection simultaneously.
|
||||
|
||||
3. Write your IP address at "xxx.xx.xxx.xxx"
|
||||
```xml
|
||||
...
|
||||
<arg name="fcu_url" default="/dev/ttyACM0:57600" />
|
||||
<arg name="gcs_url" default="udp://:14550@xxx.xx.xxx.xxx:14557" />
|
||||
...
|
||||
```
|
||||
|
||||
### ROS 빌드
|
||||
|
||||
1. Clean the previously built PX4-Autopilot directory. In the root of **PX4-Autopilot** directory:
|
||||
```sh
|
||||
make clean
|
||||
```
|
||||
|
||||
2. Build PX4-Autopilot and upload [in the normal way](../dev_setup/building_px4.md#nuttx-pixhawk-based-boards).
|
||||
|
||||
예:
|
||||
|
||||
- to build for Pixhawk 4/FMUv5 execute the following command in the root of the PX4-Autopilot directory:
|
||||
|
||||
```sh
|
||||
make px4_fmu-v5_default upload
|
||||
```
|
||||
|
||||
- to build for SITL execute the following command in the root of the PX4-Autopilot directory (using jmavsim simulation):
|
||||
|
||||
```sh
|
||||
make px4_sitl jmavsim
|
||||
```
|
||||
|
||||
## 빌드
|
||||
|
||||
이제 작업을 빌드할 준비가 되었습니다!
|
||||
|
||||
### PX4 빌드
|
||||
|
||||
1. In a terminal enter
|
||||
```sh
|
||||
roslaunch mavros px4.launch
|
||||
```
|
||||
2. In a second terminal run:
|
||||
```sh
|
||||
rostopic pub -r 10 /mavros/keyboard_command/keyboard_sub std_msgs/Char 97
|
||||
```
|
||||
This means, publish 97 ('a' in ASCII) to ROS topic "/mavros/keyboard_command/keyboard_sub" in message type "std_msgs/Char". "-r 10" means to publish continuously in "10Hz".
|
||||
|
||||
### ROS 실행
|
||||
|
||||
1. Enter the Pixhawk nutshell through UDP.
|
||||
Replace xxx.xx.xxx.xxx with your IP.
|
||||
```sh
|
||||
cd PX4-Autopilot/Tools
|
||||
./mavlink_shell.py xxx.xx.xxx.xxx:14557 --baudrate 57600
|
||||
```
|
||||
|
||||
2. After few seconds, press **Enter** a couple of times.
|
||||
You should see a prompt in the terminal as below:
|
||||
```sh
|
||||
nsh>
|
||||
nsh>
|
||||
```
|
||||
Type "key_receiver", to run your subscriber module.
|
||||
```
|
||||
nsh> key_receiver
|
||||
```
|
||||
|
||||
Check if it successfully receives `a` from your ROS topic.
|
||||
@@ -0,0 +1,210 @@
|
||||
# ROS (1) with MAVROS Installation Guide
|
||||
|
||||
:::warning
|
||||
The PX4 development team recommend that all users [upgrade to ROS 2](../ros2/index.md).
|
||||
이 문서는 "이전 접근 방식"을 설명합니다.
|
||||
:::
|
||||
|
||||
This documentation explains how to set up communication between the PX4 Autopilot and a ROS 1 enabled companion computer using MAVROS.
|
||||
|
||||
[MAVROS](http://wiki.ros.org/mavros#mavros.2BAC8-Plugins.sys_status) is a ROS 1 package that enables MAVLink extendable communication between computers running ROS 1 for any MAVLink enabled autopilot, ground station, or peripheral.
|
||||
_MAVROS_ is the "official" supported bridge between ROS 1 and the MAVLink protocol.
|
||||
|
||||
First we install PX4 and ROS, and then MAVROS.
|
||||
|
||||
## Install ROS and PX4
|
||||
|
||||
This section explains how to install [ROS 1](../ros/index.md) with PX4.
|
||||
ROS 1 full desktop builds come with Gazebo Classic, so normally you will not install the simulator dependencies yourself!
|
||||
|
||||
:::tip
|
||||
These instructions are a simplified version of the [official installation guide](https://github.com/mavlink/mavros/tree/master/mavros#installation).
|
||||
They cover the _ROS Melodic and Noetic_ releases.
|
||||
:::
|
||||
|
||||
:::: tabs
|
||||
|
||||
:::tab ROS Noetic (Ubuntu 20.04)
|
||||
|
||||
If you're working with [ROS Noetic](http://wiki.ros.org/noetic) on Ubuntu 20.04:
|
||||
|
||||
1. Install PX4 without the simulator toolchain:
|
||||
|
||||
1. [Download PX4 Source Code](../dev_setup/building_px4.md):
|
||||
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
|
||||
```
|
||||
|
||||
2. Run the **ubuntu.sh** the `--no-sim-tools` (and optionally `--no-nuttx`):
|
||||
|
||||
```sh
|
||||
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh --no-sim-tools --no-nuttx
|
||||
```
|
||||
|
||||
- 스크립트가 진행되는 동안 모든 프롬프트를 확인합니다.
|
||||
|
||||
3. 완료되면 컴퓨터를 재부팅합니다.
|
||||
|
||||
2. You _may_ need to install the following additional dependencies:
|
||||
|
||||
```sh
|
||||
sudo apt-get install protobuf-compiler libeigen3-dev libopencv-dev -y
|
||||
```
|
||||
|
||||
3. Follow the [Noetic Installation instructions](http://wiki.ros.org/noetic/Installation/Ubuntu#Installation) (ros-noetic-desktop-full is recommended).
|
||||
|
||||
:::
|
||||
|
||||
:::tab ROS Melodic (Ubuntu 18.04)
|
||||
|
||||
If you're working with ROS "Melodic on Ubuntu 18.04:
|
||||
|
||||
1. Download the [ubuntu_sim_ros_melodic.sh](https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh) script in a bash shell:
|
||||
|
||||
```sh
|
||||
wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh
|
||||
```
|
||||
|
||||
2. Run the script:
|
||||
|
||||
```sh
|
||||
bash ubuntu_sim_ros_melodic.sh
|
||||
```
|
||||
|
||||
You may need to acknowledge some prompts as the script progresses.
|
||||
|
||||
::: tip
|
||||
You don't need to install MAVROS (as shown below), as this is included by the script
|
||||
|
||||
Also note:
|
||||
|
||||
- ROS Melodic is installed with Gazebo (Classic) 9 by default.
|
||||
- Your catkin (ROS build system) workspace is created at **~/catkin_ws/**.
|
||||
- The script uses instructions from the ROS Wiki "Melodic" [Ubuntu page](http://wiki.ros.org/melodic/Installation/Ubuntu).
|
||||
|
||||
:::
|
||||
|
||||
::::
|
||||
|
||||
## Install MAVROS
|
||||
|
||||
Then MAVROS can be installed either from source or binary.
|
||||
개발자는 소스로 설치하는 것이 좋습니다.
|
||||
|
||||
#### 바이너리 설치(Debian/Ubuntu)
|
||||
|
||||
The ROS repository has binary packages for Ubuntu x86, amd64 (x86_64) and armhf (ARMv7).
|
||||
Kinetic은 Debian Jessie amd64 및 arm64(ARMv8)도 지원합니다.
|
||||
|
||||
Use `apt-get` for installation, where `${ROS_DISTRO}` below should resolve to `kinetic` or `noetic`, depending on your version of ROS:
|
||||
|
||||
```sh
|
||||
sudo apt-get install ros-${ROS_DISTRO}-mavros ros-${ROS_DISTRO}-mavros-extras ros-${ROS_DISTRO}-mavros-msgs
|
||||
```
|
||||
|
||||
Then install [GeographicLib](https://geographiclib.sourceforge.io/) datasets by running the `install_geographiclib_datasets.sh` script:
|
||||
|
||||
```sh
|
||||
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
|
||||
sudo bash ./install_geographiclib_datasets.sh
|
||||
```
|
||||
|
||||
#### 소스 설치
|
||||
|
||||
This installation assumes you have a catkin workspace located at `~/catkin_ws` If you don't create one with:
|
||||
|
||||
```sh
|
||||
mkdir -p ~/catkin_ws/src
|
||||
cd ~/catkin_ws
|
||||
catkin init
|
||||
wstool init src
|
||||
```
|
||||
|
||||
You will be using the ROS Python tools: _wstool_ (for retrieving sources), _rosinstall_, and _catkin_tools_ (building) for this installation. 다음 명령어를 사용하여 ROS를 설치할 수 있습니다.
|
||||
|
||||
```sh
|
||||
sudo apt-get install python-catkin-tools python-rosinstall-generator -y
|
||||
```
|
||||
|
||||
:::tip
|
||||
While the package can be built using **catkin_make** the preferred method is using **catkin_tools** as it is a more versatile and "friendly" build tool.
|
||||
:::
|
||||
|
||||
wstool을 처음 사용하는 경우 다음을 사용하여 소스 공간을 초기화합니다.
|
||||
|
||||
```sh
|
||||
$ wstool init ~/catkin_ws/src
|
||||
```
|
||||
|
||||
Now you are ready to do the build:
|
||||
|
||||
1. MAVLink를 설치합니다.
|
||||
|
||||
```sh
|
||||
# We use the Kinetic reference for all ROS distros as it's not distro-specific and up to date
|
||||
rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall
|
||||
```
|
||||
|
||||
2. 릴리스 또는 최신 버전을 사용하여 소스에서 MAVROS를 설치합니다.
|
||||
|
||||
- 출시/안정
|
||||
|
||||
```sh
|
||||
rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
|
||||
```
|
||||
|
||||
- 최신 소스
|
||||
|
||||
```sh
|
||||
rosinstall_generator --upstream-development mavros | tee -a /tmp/mavros.rosinstall
|
||||
```
|
||||
|
||||
```sh
|
||||
# For fetching all the dependencies into your catkin_ws,
|
||||
# just add '--deps' to the above scripts, E.g.:
|
||||
# rosinstall_generator --upstream mavros --deps | tee -a /tmp/mavros.rosinstall
|
||||
```
|
||||
|
||||
3. Create workspace & deps
|
||||
|
||||
```sh
|
||||
wstool merge -t src /tmp/mavros.rosinstall
|
||||
wstool update -t src -j4
|
||||
rosdep install --from-paths src --ignore-src -y
|
||||
```
|
||||
|
||||
4. Install [GeographicLib](https://geographiclib.sourceforge.io/) datasets:
|
||||
|
||||
```sh
|
||||
./src/mavros/mavros/scripts/install_geographiclib_datasets.sh
|
||||
```
|
||||
|
||||
5. 소스를 빌드합니다.
|
||||
|
||||
```sh
|
||||
catkin build
|
||||
```
|
||||
|
||||
6. 작업 공간에서 setup.bash 또는 setup.zsh를 사용하는지 확인하십시오.
|
||||
|
||||
```sh
|
||||
#Needed or rosrun can't find nodes from this workspace.
|
||||
source devel/setup.bash
|
||||
```
|
||||
|
||||
In the case of error, there are addition installation and troubleshooting notes in the [mavros repo](https://github.com/mavlink/mavros/tree/master/mavros#installation).
|
||||
|
||||
## MAVROS 예제
|
||||
|
||||
The [MAVROS Offboard Example (C++)](../ros/mavros_offboard_cpp.md), will show you the basics of MAVROS, from reading telemetry, checking the drone state, changing flight modes and controlling the drone.
|
||||
|
||||
:::info
|
||||
If you have an example app using the PX4 Autopilot and MAVROS, we can help you get it on our docs.
|
||||
:::
|
||||
|
||||
## See Also
|
||||
|
||||
- [mavros ROS Package Summary](http://wiki.ros.org/mavros#mavros.2BAC8-Plugins.sys_status)
|
||||
- [mavros source](https://github.com/mavlink/mavros/)
|
||||
- [ROS Melodic installation instructions](http://wiki.ros.org/melodic/Installation)
|
||||
@@ -0,0 +1,236 @@
|
||||
# MAVROS _Offboard_ control example (C++)
|
||||
|
||||
This tutorial shows the basics of _Offboard_ control with MAVROS, using an Iris quadcopter simulated in Gazebo Classic/SITL.
|
||||
At the end of the tutorial, you should see the same behaviour as in the video below, i.e. a slow takeoff to an altitude of 2 meters.
|
||||
|
||||
:::warning
|
||||
_Offboard_ control is dangerous.
|
||||
If you are operating on a real vehicle be sure to have a way of gaining back manual control in case something goes wrong.
|
||||
:::
|
||||
|
||||
:::tip
|
||||
This example uses C++.
|
||||
A very similar example for Python can be found in [ROS/MAVROS Offboard Example (Python)](../ros/mavros_offboard_python.md) (also see the examples in [integrationtests/python_src/px4_it/mavros](https://github.com/PX4/PX4-Autopilot/tree/main/integrationtests/python_src/px4_it/mavros)).
|
||||
:::
|
||||
|
||||
<video width="100%" autoplay="true" controls="true">
|
||||
<source src="../../assets/simulation/gazebo_classic/gazebo_offboard.webm" type="video/webm">
|
||||
</video>
|
||||
|
||||
## 코드
|
||||
|
||||
Create the `offb_node.cpp` file in your ROS package (by also adding it to your `CMakeList.txt` so it is compiled), and paste the following inside it:
|
||||
|
||||
```cpp
|
||||
/**
|
||||
* @file offb_node.cpp
|
||||
* @brief Offboard control example node, written with MAVROS version 0.19.x, PX4 Pro Flight
|
||||
* Stack and tested in Gazebo Classic SITL
|
||||
*/
|
||||
|
||||
#include <ros/ros.h>
|
||||
#include <geometry_msgs/PoseStamped.h>
|
||||
#include <mavros_msgs/CommandBool.h>
|
||||
#include <mavros_msgs/SetMode.h>
|
||||
#include <mavros_msgs/State.h>
|
||||
|
||||
mavros_msgs::State current_state;
|
||||
void state_cb(const mavros_msgs::State::ConstPtr& msg){
|
||||
current_state = *msg;
|
||||
}
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
ros::init(argc, argv, "offb_node");
|
||||
ros::NodeHandle nh;
|
||||
|
||||
ros::Subscriber state_sub = nh.subscribe<mavros_msgs::State>
|
||||
("mavros/state", 10, state_cb);
|
||||
ros::Publisher local_pos_pub = nh.advertise<geometry_msgs::PoseStamped>
|
||||
("mavros/setpoint_position/local", 10);
|
||||
ros::ServiceClient arming_client = nh.serviceClient<mavros_msgs::CommandBool>
|
||||
("mavros/cmd/arming");
|
||||
ros::ServiceClient set_mode_client = nh.serviceClient<mavros_msgs::SetMode>
|
||||
("mavros/set_mode");
|
||||
|
||||
//the setpoint publishing rate MUST be faster than 2Hz
|
||||
ros::Rate rate(20.0);
|
||||
|
||||
// wait for FCU connection
|
||||
while(ros::ok() && !current_state.connected){
|
||||
ros::spinOnce();
|
||||
rate.sleep();
|
||||
}
|
||||
|
||||
geometry_msgs::PoseStamped pose;
|
||||
pose.pose.position.x = 0;
|
||||
pose.pose.position.y = 0;
|
||||
pose.pose.position.z = 2;
|
||||
|
||||
//send a few setpoints before starting
|
||||
for(int i = 100; ros::ok() && i > 0; --i){
|
||||
local_pos_pub.publish(pose);
|
||||
ros::spinOnce();
|
||||
rate.sleep();
|
||||
}
|
||||
|
||||
mavros_msgs::SetMode offb_set_mode;
|
||||
offb_set_mode.request.custom_mode = "OFFBOARD";
|
||||
|
||||
mavros_msgs::CommandBool arm_cmd;
|
||||
arm_cmd.request.value = true;
|
||||
|
||||
ros::Time last_request = ros::Time::now();
|
||||
|
||||
while(ros::ok()){
|
||||
if( current_state.mode != "OFFBOARD" &&
|
||||
(ros::Time::now() - last_request > ros::Duration(5.0))){
|
||||
if( set_mode_client.call(offb_set_mode) &&
|
||||
offb_set_mode.response.mode_sent){
|
||||
ROS_INFO("Offboard enabled");
|
||||
}
|
||||
last_request = ros::Time::now();
|
||||
} else {
|
||||
if( !current_state.armed &&
|
||||
(ros::Time::now() - last_request > ros::Duration(5.0))){
|
||||
if( arming_client.call(arm_cmd) &&
|
||||
arm_cmd.response.success){
|
||||
ROS_INFO("Vehicle armed");
|
||||
}
|
||||
last_request = ros::Time::now();
|
||||
}
|
||||
}
|
||||
|
||||
local_pos_pub.publish(pose);
|
||||
|
||||
ros::spinOnce();
|
||||
rate.sleep();
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
```
|
||||
|
||||
## Code explanation
|
||||
|
||||
```cpp
|
||||
#include <ros/ros.h>
|
||||
#include <geometry_msgs/PoseStamped.h>
|
||||
#include <mavros_msgs/CommandBool.h>
|
||||
#include <mavros_msgs/SetMode.h>
|
||||
#include <mavros_msgs/State.h>
|
||||
```
|
||||
|
||||
The `mavros_msgs` package contains all of the custom messages required to operate services and topics provided by the MAVROS package.
|
||||
All services and topics as well as their corresponding message types are documented in the [mavros wiki](http://wiki.ros.org/mavros).
|
||||
|
||||
```cpp
|
||||
mavros_msgs::State current_state;
|
||||
void state_cb(const mavros_msgs::State::ConstPtr& msg){
|
||||
current_state = *msg;
|
||||
}
|
||||
```
|
||||
|
||||
We create a simple callback which will save the current state of the autopilot.
|
||||
This will allow us to check connection, arming and _Offboard_ flags.
|
||||
|
||||
```cpp
|
||||
ros::Subscriber state_sub = nh.subscribe<mavros_msgs::State>("mavros/state", 10, state_cb);
|
||||
ros::Publisher local_pos_pub = nh.advertise<geometry_msgs::PoseStamped>("mavros/setpoint_position/local", 10);
|
||||
ros::ServiceClient arming_client = nh.serviceClient<mavros_msgs::CommandBool>("mavros/cmd/arming");
|
||||
ros::ServiceClient set_mode_client = nh.serviceClient<mavros_msgs::SetMode>("mavros/set_mode");
|
||||
```
|
||||
|
||||
We instantiate a publisher to publish the commanded local position and the appropriate clients to request arming and mode change.
|
||||
Note that for your own system, the "mavros" prefix might be different as it will depend on the name given to the node in it's launch file.
|
||||
|
||||
```cpp
|
||||
//the setpoint publishing rate MUST be faster than 2Hz
|
||||
ros::Rate rate(20.0);
|
||||
```
|
||||
|
||||
PX4 has a timeout of 500ms between two _Offboard_ commands.
|
||||
If this timeout is exceeded, the commander will fall back to the last mode the vehicle was in before entering _Offboard_ mode.
|
||||
This is why the publishing rate **must** be faster than 2 Hz to also account for possible latencies.
|
||||
This is also the same reason why it is recommended to enter _Offboard_ mode from _Position_ mode, this way if the vehicle drops out of _Offboard_ mode it will stop in its tracks and hover.
|
||||
|
||||
```cpp
|
||||
// wait for FCU connection
|
||||
while(ros::ok() && !current_state.connected){
|
||||
ros::spinOnce();
|
||||
rate.sleep();
|
||||
}
|
||||
```
|
||||
|
||||
Before publishing anything, we wait for the connection to be established between MAVROS and the autopilot.
|
||||
This loop should exit as soon as a heartbeat message is received.
|
||||
|
||||
```cpp
|
||||
geometry_msgs::PoseStamped pose;
|
||||
pose.pose.position.x = 0;
|
||||
pose.pose.position.y = 0;
|
||||
pose.pose.position.z = 2;
|
||||
```
|
||||
|
||||
Even though the PX4 Pro Flight Stack operates in the aerospace NED coordinate frame, MAVROS translates these coordinates to the standard ENU frame and vice-versa.
|
||||
This is why we set `z` to positive 2.
|
||||
|
||||
```cpp
|
||||
//send a few setpoints before starting
|
||||
for(int i = 100; ros::ok() && i > 0; --i){
|
||||
local_pos_pub.publish(pose);
|
||||
ros::spinOnce();
|
||||
rate.sleep();
|
||||
}
|
||||
```
|
||||
|
||||
Before entering _Offboard_ mode, you must have already started streaming setpoints.
|
||||
Otherwise the mode switch will be rejected. Here, `100` was chosen as an arbitrary amount.
|
||||
|
||||
```cpp
|
||||
mavros_msgs::SetMode offb_set_mode;
|
||||
offb_set_mode.request.custom_mode = "OFFBOARD";
|
||||
```
|
||||
|
||||
We set the custom mode to `OFFBOARD`.
|
||||
A list of [supported modes](http://wiki.ros.org/mavros/CustomModes#PX4_native_flight_stack) is available for reference.
|
||||
|
||||
```cpp
|
||||
mavros_msgs::CommandBool arm_cmd;
|
||||
arm_cmd.request.value = true;
|
||||
|
||||
ros::Time last_request = ros::Time::now();
|
||||
|
||||
while(ros::ok()){
|
||||
if( current_state.mode != "OFFBOARD" &&
|
||||
(ros::Time::now() - last_request > ros::Duration(5.0))){
|
||||
if( set_mode_client.call(offb_set_mode) && offb_set_mode.response.mode_sent) {
|
||||
ROS_INFO("Offboard enabled");
|
||||
}
|
||||
last_request = ros::Time::now();
|
||||
} else {
|
||||
if( !current_state.armed && (ros::Time::now() - last_request > ros::Duration(5.0))) {
|
||||
if( arming_client.call(arm_cmd) && arm_cmd.response.success) {
|
||||
ROS_INFO("Vehicle armed");
|
||||
}
|
||||
last_request = ros::Time::now();
|
||||
}
|
||||
}
|
||||
|
||||
local_pos_pub.publish(pose);
|
||||
|
||||
ros::spinOnce();
|
||||
rate.sleep();
|
||||
}
|
||||
```
|
||||
|
||||
The rest of the code is pretty self explanatory.
|
||||
We attempt to switch to _Offboard_ mode, after which we arm the quad to allow it to fly.
|
||||
We space out the service calls by 5 seconds so to not flood the autopilot with the requests.
|
||||
In the same loop, we continue sending the requested pose at the appropriate rate.
|
||||
|
||||
:::tip
|
||||
This code has been simplified to the bare minimum for illustration purposes.
|
||||
In larger systems, it is often useful to create a new thread which will be in charge of periodically publishing the setpoints.
|
||||
:::
|
||||
@@ -0,0 +1,365 @@
|
||||
# MAVROS _Offboard_ control example (Python)
|
||||
|
||||
This tutorial shows the basics of _OFFBOARD_ control with MAVROS Python, using an Iris quadcopter simulated in [Gazebo Classic](../sim_gazebo_classic/index.md).
|
||||
It provides step-by-step instructions demonstrating how to start developing programs to control a vehicle and running the code in simulation.
|
||||
|
||||
At the end of the tutorial, you should see the same behaviour as in the video below, i.e. a slow takeoff to an altitude of 2 meters.
|
||||
|
||||
:::warning
|
||||
_OFFBOARD_ control is dangerous.
|
||||
If you are operating on a real vehicle be sure to have a way of gaining back manual control in case something goes wrong.
|
||||
:::
|
||||
|
||||
:::tip
|
||||
This example uses Python.
|
||||
Other examples in Python can be found here: [integrationtests/python_src/px4_it/mavros](https://github.com/PX4/PX4-Autopilot/tree/main/integrationtests/python_src/px4_it/mavros).
|
||||
:::
|
||||
|
||||
<a id="offb_video"></a>
|
||||
|
||||
<video width="100%" autoplay="true" controls="true">
|
||||
<source src="../../assets/simulation/gazebo_classic/gazebo_offboard.webm" type="video/webm">
|
||||
</video>
|
||||
|
||||
## Creating the ROS Package
|
||||
|
||||
1. Open the terminal and go to `~/catkin_ws/src` directory
|
||||
|
||||
```sh
|
||||
roscd # Should cd into ~/catkin_ws/devel
|
||||
cd ..
|
||||
cd src
|
||||
```
|
||||
|
||||
2. In the `~/catkin_ws/src` directory create a new package named `offboard_py` (in this case) with the `rospy` dependency:
|
||||
|
||||
```sh
|
||||
catkin_create_pkg offboard_py rospy
|
||||
```
|
||||
|
||||
3. Build the new package in the `~/catkin_ws/` directory:
|
||||
|
||||
```sh
|
||||
cd .. # Assuming previous directory to be ~/catkin_ws/src
|
||||
catkin build
|
||||
source devel/setup.bash
|
||||
```
|
||||
|
||||
4. You should now be able to cd into the package by using:
|
||||
|
||||
```sh
|
||||
roscd offboard_py
|
||||
```
|
||||
|
||||
5. To store your Python files, create a new folder called `/scripts` on the package:
|
||||
|
||||
```sh
|
||||
mkdir scripts
|
||||
cd scripts
|
||||
```
|
||||
|
||||
## 코드
|
||||
|
||||
After creating the ROS package and scripts folder you are ready to start your Python script.
|
||||
Inside the scripts folder create the `offb_node.py` file and give it executable permissions:
|
||||
|
||||
```sh
|
||||
touch offb_node.py
|
||||
chmod +x offb_node.py
|
||||
```
|
||||
|
||||
After that, open `offb_node.py` file and paste the following code:
|
||||
|
||||
```py
|
||||
"""
|
||||
* File: offb_node.py
|
||||
* Stack and tested in Gazebo Classic 9 SITL
|
||||
"""
|
||||
|
||||
#! /usr/bin/env python
|
||||
|
||||
import rospy
|
||||
from geometry_msgs.msg import PoseStamped
|
||||
from mavros_msgs.msg import State
|
||||
from mavros_msgs.srv import CommandBool, CommandBoolRequest, SetMode, SetModeRequest
|
||||
|
||||
current_state = State()
|
||||
|
||||
def state_cb(msg):
|
||||
global current_state
|
||||
current_state = msg
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
rospy.init_node("offb_node_py")
|
||||
|
||||
state_sub = rospy.Subscriber("mavros/state", State, callback = state_cb)
|
||||
|
||||
local_pos_pub = rospy.Publisher("mavros/setpoint_position/local", PoseStamped, queue_size=10)
|
||||
|
||||
rospy.wait_for_service("/mavros/cmd/arming")
|
||||
arming_client = rospy.ServiceProxy("mavros/cmd/arming", CommandBool)
|
||||
|
||||
rospy.wait_for_service("/mavros/set_mode")
|
||||
set_mode_client = rospy.ServiceProxy("mavros/set_mode", SetMode)
|
||||
|
||||
|
||||
# Setpoint publishing MUST be faster than 2Hz
|
||||
rate = rospy.Rate(20)
|
||||
|
||||
# Wait for Flight Controller connection
|
||||
while(not rospy.is_shutdown() and not current_state.connected):
|
||||
rate.sleep()
|
||||
|
||||
pose = PoseStamped()
|
||||
|
||||
pose.pose.position.x = 0
|
||||
pose.pose.position.y = 0
|
||||
pose.pose.position.z = 2
|
||||
|
||||
# Send a few setpoints before starting
|
||||
for i in range(100):
|
||||
if(rospy.is_shutdown()):
|
||||
break
|
||||
|
||||
local_pos_pub.publish(pose)
|
||||
rate.sleep()
|
||||
|
||||
offb_set_mode = SetModeRequest()
|
||||
offb_set_mode.custom_mode = 'OFFBOARD'
|
||||
|
||||
arm_cmd = CommandBoolRequest()
|
||||
arm_cmd.value = True
|
||||
|
||||
last_req = rospy.Time.now()
|
||||
|
||||
while(not rospy.is_shutdown()):
|
||||
if(current_state.mode != "OFFBOARD" and (rospy.Time.now() - last_req) > rospy.Duration(5.0)):
|
||||
if(set_mode_client.call(offb_set_mode).mode_sent == True):
|
||||
rospy.loginfo("OFFBOARD enabled")
|
||||
|
||||
last_req = rospy.Time.now()
|
||||
else:
|
||||
if(not current_state.armed and (rospy.Time.now() - last_req) > rospy.Duration(5.0)):
|
||||
if(arming_client.call(arm_cmd).success == True):
|
||||
rospy.loginfo("Vehicle armed")
|
||||
|
||||
last_req = rospy.Time.now()
|
||||
|
||||
local_pos_pub.publish(pose)
|
||||
|
||||
rate.sleep()
|
||||
|
||||
```
|
||||
|
||||
## Code explanation
|
||||
|
||||
The `mavros_msgs` package contains all of the custom messages required to operate services and topics provided by the MAVROS package.
|
||||
All services and topics as well as their corresponding message types are documented in the [mavros wiki](http://wiki.ros.org/mavros).
|
||||
|
||||
```py
|
||||
import rospy
|
||||
from geometry_msgs.msg import PoseStamped
|
||||
from mavros_msgs.msg import State
|
||||
from mavros_msgs.srv import CommandBool, CommandBoolRequest, SetMode, SetModeRequest
|
||||
```
|
||||
|
||||
We create a simple callback which will save the current state of the autopilot.
|
||||
This will allow us to check connection, arming and _OFFBOARD_ flags.:
|
||||
|
||||
```py
|
||||
current_state = State()
|
||||
|
||||
def state_cb(msg):
|
||||
global current_state
|
||||
current_state = msg
|
||||
```
|
||||
|
||||
We instantiate a publisher to publish the commanded local position and the appropriate clients to request arming and mode change.
|
||||
Note that for your own system, the "mavros" prefix might be different as it will depend on the name given to the node in it's launch file.
|
||||
|
||||
```py
|
||||
state_sub = rospy.Subscriber("mavros/state", State, callback = state_cb)
|
||||
|
||||
local_pos_pub = rospy.Publisher("mavros/setpoint_position/local", PoseStamped, queue_size=10)
|
||||
|
||||
rospy.wait_for_service("/mavros/cmd/arming")
|
||||
arming_client = rospy.ServiceProxy("mavros/cmd/arming", CommandBool)
|
||||
|
||||
rospy.wait_for_service("/mavros/set_mode")
|
||||
set_mode_client = rospy.ServiceProxy("mavros/set_mode", SetMode)
|
||||
```
|
||||
|
||||
PX4 has a timeout of 500ms between two _OFFBOARD_ commands.
|
||||
If this timeout is exceeded, the commander will fall back to the last mode the vehicle was in before entering _OFFBOARD_ mode.
|
||||
This is why the publishing rate **must** be faster than 2 Hz to also account for possible latencies.
|
||||
This is also the same reason why it is **recommended to enter _OFFBOARD_ mode from _Position_ mode**, this way if the vehicle drops out of _OFFBOARD_ mode it will stop in its tracks and hover.
|
||||
|
||||
Here we set the publishing rate appropriately:
|
||||
|
||||
```py
|
||||
# Setpoint publishing MUST be faster than 2Hz
|
||||
rate = rospy.Rate(20)
|
||||
```
|
||||
|
||||
Before publishing anything, we wait for the connection to be established between MAVROS and the autopilot.
|
||||
This loop should exit as soon as a heartbeat message is received.
|
||||
|
||||
```py
|
||||
# Wait for Flight Controller connection
|
||||
while(not rospy.is_shutdown() and not current_state.connected):
|
||||
rate.sleep()
|
||||
```
|
||||
|
||||
Even though PX4 operates in the aerospace NED coordinate frame, MAVROS translates these coordinates to the standard ENU frame and vice-versa.
|
||||
This is why we set `z` to positive 2:
|
||||
|
||||
```py
|
||||
pose = PoseStamped()
|
||||
|
||||
pose.pose.position.x = 0
|
||||
pose.pose.position.y = 0
|
||||
pose.pose.position.z = 2
|
||||
```
|
||||
|
||||
Before entering _OFFBOARD_ mode, you must have already started streaming setpoints.
|
||||
Otherwise the mode switch will be rejected.
|
||||
Below, `100` was chosen as an arbitrary amount.
|
||||
|
||||
```py
|
||||
# Send a few setpoints before starting
|
||||
for i in range(100):
|
||||
if(rospy.is_shutdown()):
|
||||
break
|
||||
|
||||
local_pos_pub.publish(pose)
|
||||
rate.sleep()
|
||||
```
|
||||
|
||||
We prepare the message request used to set the custom mode to `OFFBOARD`.
|
||||
A list of [supported modes](http://wiki.ros.org/mavros/CustomModes#PX4_native_flight_stack) is available for reference.
|
||||
|
||||
```py
|
||||
offb_set_mode = SetModeRequest()
|
||||
offb_set_mode.custom_mode = 'OFFBOARD'
|
||||
```
|
||||
|
||||
The rest of the code is largely self explanatory.
|
||||
We attempt to switch to _Offboard_ mode, after which we arm the quad to allow it to fly.
|
||||
We space out the service calls by 5 seconds so to not flood the autopilot with the requests.
|
||||
In the same loop, we continue sending the requested pose at the rate previously defined.
|
||||
|
||||
```py
|
||||
arm_cmd = CommandBoolRequest()
|
||||
arm_cmd.value = True
|
||||
|
||||
last_req = rospy.Time.now()
|
||||
|
||||
while(not rospy.is_shutdown()):
|
||||
if(current_state.mode != "OFFBOARD" and (rospy.Time.now() - last_req) > rospy.Duration(5.0)):
|
||||
if(set_mode_client.call(offb_set_mode).mode_sent == True):
|
||||
rospy.loginfo("OFFBOARD enabled")
|
||||
|
||||
last_req = rospy.Time.now()
|
||||
else:
|
||||
if(not current_state.armed and (rospy.Time.now() - last_req) > rospy.Duration(5.0)):
|
||||
if(arming_client.call(arm_cmd).success == True):
|
||||
rospy.loginfo("Vehicle armed")
|
||||
|
||||
last_req = rospy.Time.now()
|
||||
|
||||
local_pos_pub.publish(pose)
|
||||
|
||||
rate.sleep()
|
||||
```
|
||||
|
||||
:::tip
|
||||
This code has been simplified to the bare minimum for illustration purposes.
|
||||
In larger systems, it is often useful to create a new thread which will be in charge of periodically publishing the setpoints.
|
||||
:::
|
||||
|
||||
## Creating the ROS launch file
|
||||
|
||||
In your `offboard_py` package, create another folder inside the `~/catkin_ws/src/offboard_py/src` directory named `launch`.
|
||||
This is where your launch files for the package will be stored.
|
||||
After that, create your first launch file, in this case we will call it `start_offb.launch`.
|
||||
|
||||
```sh
|
||||
roscd offboard_py
|
||||
mkdir launch
|
||||
cd launch
|
||||
touch start_offb.launch
|
||||
```
|
||||
|
||||
For the `start_offb.launch` copy the following code:
|
||||
|
||||
```xml
|
||||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
<!-- Include the MAVROS node with SITL and Gazebo -->
|
||||
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
|
||||
</include>
|
||||
|
||||
<!-- Our node to control the drone -->
|
||||
<node pkg="offboard_py" type="offb_node.py" name="offb_node_py" required="true" output="screen" />
|
||||
</launch>
|
||||
```
|
||||
|
||||
As you can see, the `mavros_posix_sitl.launch` file is included.
|
||||
This file is responsible for launching MAVROS, the PX4 SITL, the Gazebo Classic Environment and for spawning a vehicle in a given world (for further information see the file [here](https://github.com/PX4/PX4-Autopilot/blob/main/launch/mavros_posix_sitl.launch)).
|
||||
|
||||
:::tip
|
||||
The `mavros_posix_sitl.launch` file takes several arguments that can be set according to your preferences such as the vehicle to spawn or the Gazebo Classic world (refer to [here](https://github.com/PX4/PX4-Autopilot/blob/main/launch/mavros_posix_sitl.launch)) for a complete list).
|
||||
|
||||
You can override the default value of these arguments defined in `mavros_posix_sitl.launch` by declaring them inside the _include_ tags.
|
||||
As an example, if you wanted to spawn the vehicle in the `warehouse.world`, you would write the following:
|
||||
|
||||
```xml
|
||||
<!-- Include the MAVROS node with SITL and Gazebo -->
|
||||
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/warehouse.world"/>
|
||||
</include>
|
||||
```
|
||||
|
||||
:::
|
||||
|
||||
## Launching your script
|
||||
|
||||
If everything is done, you should now be able to launch and test your script.
|
||||
|
||||
In the terminal write:
|
||||
|
||||
```sh
|
||||
roslaunch offboard_py start_offb.launch
|
||||
```
|
||||
|
||||
You should now see the PX4 firmware initiating and the Gazebo Classic application running.
|
||||
After the _OFFBOARD_ mode is set and the vehicle is armed, the behavior shown in the [video](#offb_video) should be observed.
|
||||
|
||||
:::warning
|
||||
It is possible that when running the script an error appears saying:
|
||||
|
||||
> Resource not found: px4
|
||||
> ROS path [0] = ...
|
||||
> ...
|
||||
|
||||
This means that PX4 SITL was not included in the path.
|
||||
To solve this add these lines at the end of the `.bashrc` file:
|
||||
|
||||
```sh
|
||||
source ~/PX4-Autopilot/Tools/simulation/gazebo/setup_gazebo.bash ~/PX4-Autopilot ~/PX4-Autopilot/build/px4_sitl_default
|
||||
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot
|
||||
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic
|
||||
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/usr/lib/x86_64-linux-gnu/gazebo-9/plugins
|
||||
```
|
||||
|
||||
Now in the terminal, go to the home directory and run the following command to apply the changes above to the current terminal:
|
||||
|
||||
```sh
|
||||
source .bashrc
|
||||
```
|
||||
|
||||
After this step, every time you open a new terminal window you should not have to worry about this error anymore.
|
||||
If it appears again, a simple `source .bashrc` should fix it.
|
||||
This solution was obtained from this [issue](https://github.com/mzahana/px4_fast_planner/issues/4) thread, where you can get more information about the problem.
|
||||
:::
|
||||
@@ -0,0 +1,88 @@
|
||||
# 오프보드 제어
|
||||
|
||||
:::warning
|
||||
[Offboard control](../flight_modes/offboard.md) is dangerous.
|
||||
오프보드 비행전에 적절한 준비, 테스트 및 안전 예방 조치를 취하여야 합니다.
|
||||
:::
|
||||
|
||||
오프보드 제어의 아이디어는 자동조종장치 외부에서 실행되는 소프트웨어를 사용하여 PX4를 제어하는 것입니다.
|
||||
This is done through the MAVLink protocol, specifically the [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED) and the [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) messages.
|
||||
|
||||
## 오프보드 제어 펌웨어 설정
|
||||
|
||||
오프보드 개발전에 펌웨어에서 두 가지를 설정하여야 합니다.
|
||||
|
||||
### Enable RC Override
|
||||
|
||||
In _QGroundControl_ you can set the [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) parameter to automatically switch from offboard mode (or any mode) to Position mode if the RC sticks are moved.
|
||||
This is the best way to ensure that an operator can easily take control of the vehicle and switch to the safest flight mode.
|
||||
|
||||
### RC 스위치를 오프보드 모드 활성화에 매핑
|
||||
|
||||
In _QGroundControl_ you can set the [RC_MAP_OFFB_SW](../advanced_config/parameter_reference.md#RC_MAP_OFFB_SW) parameter to the RC channel that will be used to activate offboard mode.
|
||||
This can be used to switch between offboard mode and the mode set by the mode switch ([RC_MAP_MODE_SW](../advanced_config/parameter_reference.md#RC_MAP_MODE_SW)).
|
||||
You can also switch into offboard mode using a GCS/MAVLink so this is not "mandatory".
|
||||
|
||||
Note also that this mechanism is not as "safe" as using [RC Override](#enable-rc-override) to switch out of offboard mode, because the mode you switch to is unpredictable.
|
||||
|
||||
### 보조 컴퓨터 인터페이스 활성화
|
||||
|
||||
Enable MAVLink on the serial port that you connect to the companion computer (see [Companion Computers](../companion_computer/index.md)).
|
||||
|
||||
## 하드웨어 설정
|
||||
|
||||
일반적으로 오프보드 통신을 설정하는 방법에는 세 가지가 있습니다.
|
||||
|
||||
### 직렬 라디오
|
||||
|
||||
1. 하나는 자동조종장치의 UART 포트에 연결합니다.
|
||||
2. One connected to a ground station computer
|
||||
|
||||
Example radios include:
|
||||
|
||||
- [Lairdtech RM024](http://www.lairdtech.com/products/rm024)
|
||||
- [Digi International XBee Pro](http://www.digi.com/products/xbee-rf-solutions/modules)
|
||||
|
||||
[](https://mermaid-js.github.io/mermaid-live-editor/#/edit/eyJjb2RlIjoiZ3JhcGggVEQ7XG4gIGduZFtHcm91bmQgU3RhdGlvbl0gLS1NQVZMaW5rLS0-IHJhZDFbR3JvdW5kIFJhZGlvXTtcbiAgcmFkMSAtLVJhZGlvUHJvdG9jb2wtLT4gcmFkMltWZWhpY2xlIFJhZGlvXTtcbiAgcmFkMiAtLU1BVkxpbmstLT4gYVtBdXRvcGlsb3RdOyIsIm1lcm1haWQiOnsidGhlbWUiOiJkZWZhdWx0In0sInVwZGF0ZUVkaXRvciI6ZmFsc2V9)
|
||||
|
||||
<!-- original mermaid graph
|
||||
graph TD;
|
||||
gnd[Ground Station] --MAVLink-- > rad1[Ground Radio];
|
||||
rad1 --RadioProtocol-- > rad2[Vehicle Radio];
|
||||
rad2 --MAVLink-- > a[Autopilot];
|
||||
-->
|
||||
|
||||
### 온보드 프로세서
|
||||
|
||||
A small computer mounted onto the vehicle, connected to the autopilot through a serial port or Ehthernet port.
|
||||
There are many possibilities here and it will depend on what kind of additional on-board processing you want to do in addition to sending commands to the autopilot.
|
||||
Some examples are provided in [Companion Computers](../companion_computer/index.md#companion-computer-options).
|
||||
|
||||
[](https://mermaid-js.github.io/mermaid-live-editor/#/edit/eyJjb2RlIjoiZ3JhcGggVEQ7XG4gIGNvbXBbQ29tcGFuaW9uIENvbXB1dGVyXSAtLU1BVkxpbmstLT4gdWFydFtVQVJUIEFkYXB0ZXJdO1xuICB1YXJ0IC0tTUFWTGluay0tPiBBdXRvcGlsb3Q7IiwibWVybWFpZCI6eyJ0aGVtZSI6ImRlZmF1bHQifSwidXBkYXRlRWRpdG9yIjpmYWxzZX0)
|
||||
|
||||
<!-- original mermaid graph
|
||||
graph TD;
|
||||
comp[Companion Computer] --MAVLink-- > uart[UART Adapter];
|
||||
uart --MAVLink-- > Autopilot;
|
||||
-->
|
||||
|
||||
### On-board processor and wifi link to ROS (**_Recommended_**)
|
||||
|
||||
A small computer mounted onto the vehicle connected to the autopilot through a UART to USB adapter while also having a WiFi link to a ground station running ROS.
|
||||
This can be any of the computers from the above section coupled with a WiFi adapter.
|
||||
|
||||
[](https://mermaid-js.github.io/mermaid-live-editor/#/edit/eyJjb2RlIjoiZ3JhcGggVERcbiAgc3ViZ3JhcGggR3JvdW5kICBTdGF0aW9uXG4gIGduZFtST1MgRW5hYmxlZCBDb21wdXRlcl0gLS0tIHFnY1txR3JvdW5kQ29udHJvbF1cbiAgZW5kXG4gIGduZCAtLU1BVkxpbmsvVURQLS0-IHdbV2lGaV07XG4gIHFnYyAtLU1BVkxpbmstLT4gdztcbiAgc3ViZ3JhcGggVmVoaWNsZVxuICBjb21wW0NvbXBhbmlvbiBDb21wdXRlcl0gLS1NQVZMaW5rLS0-IHVhcnRbVUFSVCBBZGFwdGVyXVxuICB1YXJ0IC0tLSBBdXRvcGlsb3RcbiAgZW5kXG4gIHcgLS0tIGNvbXAiLCJtZXJtYWlkIjp7InRoZW1lIjoiZGVmYXVsdCJ9LCJ1cGRhdGVFZGl0b3IiOmZhbHNlfQ)
|
||||
|
||||
<!-- original mermaid graph
|
||||
graph TD
|
||||
subgraph Ground Station
|
||||
gnd[ROS Enabled Computer] --- qgc[qGroundControl]
|
||||
end
|
||||
gnd --MAVLink/UDP-- > w[WiFi];
|
||||
qgc --MAVLink-- > w;
|
||||
subgraph Vehicle
|
||||
comp[Companion Computer] --MAVLink-- > uart[UART Adapter]
|
||||
uart --- Autopilot
|
||||
end
|
||||
w --- comp
|
||||
-->
|
||||
@@ -0,0 +1,42 @@
|
||||
# 라즈베리파이 ROS 설치
|
||||
|
||||
Pixhawk 보조 컴퓨터 라즈베리파이에 ROS-indigo를 설치 방법을 설명합니다.
|
||||
|
||||
## 준비 사항
|
||||
|
||||
- 모니터, 키보드 또는 구성된 SSH 연결가능한 라즈베리파이
|
||||
- 이 가이드는 라즈베리파이에 Raspbian "JESSIE"가 설치되어 있다고 가정합니다. If not: [install it](https://www.raspberrypi.org/downloads/raspbian/) or [upgrade](http://raspberrypi.stackexchange.com/questions/27858/upgrade-to-raspbian-jessie) your Raspbian Wheezy to Jessie.
|
||||
|
||||
## 설치
|
||||
|
||||
Follow [this guide](http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Indigo%20on%20Raspberry%20Pi) for the actual installation of ROS Indigo. 참고: "ROS-Comm" 변형 버전을 설치하십시오. 데스크탑 변형은 너무 무겁습니다.
|
||||
|
||||
### 패키지 설치 중 오류
|
||||
|
||||
If you want to download packages (e.g. `sudo apt-get install ros-indigo-ros-tutorials`), you might get an error saying: "unable to locate package ros-indigo-ros-tutorials".
|
||||
|
||||
그런 오류가 발생하면, catkin 작업 공간(예: ~/ros_catkin_ws)으로 이동하여 패키지 이름을 변경합니다.
|
||||
|
||||
```sh
|
||||
$ cd ~/ros_catkin_ws
|
||||
|
||||
$ rosinstall_generator ros_tutorials --rosdistro indigo --deps --wet-only --exclude roslisp --tar > indigo-custom_ros.rosinstall
|
||||
```
|
||||
|
||||
다음으로 wstool로 작업 공간을 업데이트 합니다.
|
||||
|
||||
```sh
|
||||
$ wstool merge -t src indigo-custom_ros.rosinstall
|
||||
|
||||
$ wstool update -t src
|
||||
```
|
||||
|
||||
다음으로(여전히 작업 공간 폴더에 있음) 파일을 소싱하고 빌드합니다.
|
||||
|
||||
```sh
|
||||
$ source /opt/ros/indigo/setup.bash
|
||||
|
||||
$ source devel/setup.bash
|
||||
|
||||
$ catkin_make
|
||||
```
|
||||
@@ -0,0 +1,28 @@
|
||||
# ROS 1 (Deprecated)
|
||||
|
||||
:::warning
|
||||
The PX4 development team recommend that users migrate to [ROS 2](../ros2/index.md) (i.e. skip this section)!
|
||||
|
||||
ROS 1 is now "discommended" as the last LTS version is approaching end of life.
|
||||
ROS 2 has much deeper integration with PX4, enabling lower-latency communication with access to PX4 internal messaging.
|
||||
:::
|
||||
|
||||
[ROS (1)](http://www.ros.org/) is a general purpose robotics library that can be used with PX4 for drone application development.
|
||||
|
||||
This version of ROS uses the [MAVROS](../ros/mavros_installation.md) package to communicate with PX4 over [MAVLink](../middleware/mavlink.md) (MAVROS bridges ROS topics to MAVLink and PX4 conventions).
|
||||
|
||||
## Topics
|
||||
|
||||
- [ROS/MAVROS Installation Guide](../ros/mavros_installation.md): Setup a PX4 development environment with ROS 1 and MAVROS.
|
||||
- [ROS/MAVROS Offboard Example (C++)](../ros/mavros_offboard_cpp.md): Tutorial showing the main concepts related to writing a C++ MAVROS/ROS node.
|
||||
- [ROS MAVROS Sending Custom Messages](../ros/mavros_custom_messages.md)
|
||||
- [ROS with Gazebo Classic Simulation](../simulation/ros_interface.md)
|
||||
- [Gazebo Classic OctoMap Models with ROS](../sim_gazebo_classic/octomap.md)
|
||||
- [ROS Installation on RPi](../ros/raspberrypi_installation.md)
|
||||
- [External Position Estimation (Vision/Motion based)](../ros/external_position_estimation.md)
|
||||
|
||||
## Further Infomration
|
||||
|
||||
- [XTDrone](https://github.com/robin-shaun/XTDrone/blob/master/README.en.md) - ROS + PX4 simulation environment for computer vision.
|
||||
The [XTDrone Manual](https://www.yuque.com/xtdrone/manual_en) has everything you need to get started!
|
||||
- [Prometheus Autonomous Drone Project](https://github.com/amov-lab/Prometheus/blob/master/README_EN.md) - Prometheus is a ROS 1 based, BSD-3 licensed collection of autonomous drone software packages from [AMOVLab](https://github.com/amov-lab), which provides a full set of solutions for the intelligent and autonomous flight of drones, such as mapping, localization, planning, control, and target detection, fully integrated with the [Gazebo Classic](../sim_gazebo_classic/index.md) Simulator.
|
||||
@@ -0,0 +1 @@
|
||||
<Redirect to="../ros2/" />
|
||||
@@ -0,0 +1 @@
|
||||
<Redirect to="../ros2/user_guide" />
|
||||
@@ -0,0 +1 @@
|
||||
<Redirect to="../ros2/multi_vehicle" />
|
||||
@@ -0,0 +1 @@
|
||||
<Redirect to="../ros2/offboard_control" />
|
||||
Reference in New Issue
Block a user