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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.

  2. Start the additional ROS 2 node through the common launchfile.

    ros2 launch px4_roscon_25 common.launch.py

  3. Run offboard_demo.launch.py from inside the docker container

    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.