fix px4 launch file for ROS2 #1834

vacabun · 2023-02-23T13:19:32Z

I modified px4 launch file for ROS2, and tested it in the simulation environment.

vooon

Overally looks good. Can you please do the same for apm?

vooon · 2023-02-23T15:44:15Z

mavros/launch/px4_config.yaml

+    laser_1_sub:
+      subscriber: true
+      id: 3
+      orientation: PITCH_270


That plugin now parses yaml from string parameter.

vacabun · 2023-02-24T03:10:57Z

OK, I will try to do the same for apm.

vacabun · 2023-02-24T07:05:58Z

I don't find any use for event_launcher.yaml and mavlink_bridge.launch, should I remove them.

vooon · 2023-02-24T08:39:40Z

Yes, bridge is not needed anymore, because you have router.
And I've removed event_launcher as it should be done differently, like a plugin to launch system, or something like that.

vooon · 2023-02-24T08:42:53Z

Fix #1564
Replace #1747

vacabun · 2023-02-24T08:48:51Z

OK，I have removed them.

vooon

Have you tried to use this launch?
I just have an idea, that params file not fully loaded.

Do you know, is it possible to define namespace for params?
Just if you run several copies of the UAS to control few drones, it might be convenient to have same config.

vooon · 2023-02-24T09:01:56Z

mavros/launch/px4_config.yaml

+      send: false               # send TF?
+      frame_id: "map"  # TF frame_id
+      global_frame_id: "earth"  # TF earth frame_id
+      child_frame_id: "base_link" # TF child_frame_id


In ROS2 parameters are flat, so i had to change names. Please have a look:

mavros/mavros/src/plugins/global_position.cpp

Lines 90 to 107 in 6e86500

// tf subsection

node_declare_and_watch_parameter(

"tf.send", false, [&](const rclcpp::Parameter & p) {

tf_send = p.as_bool();

});

node_declare_and_watch_parameter(

"tf.frame_id", "map", [&](const rclcpp::Parameter & p) {

tf_frame_id = p.as_string();

});

// The global_origin should be represented as "earth" coordinate frame (ECEF) (REP 105)

node_declare_and_watch_parameter(

"tf.global_frame_id", "earth", [&](const rclcpp::Parameter & p) {

tf_global_frame_id = p.as_string();

});

node_declare_and_watch_parameter(

"tf.child_frame_id", "base_link", [&](const rclcpp::Parameter & p) {

tf_child_frame_id = p.as_string();

});

vooon · 2023-02-24T09:04:06Z

mavros/launch/px4_config.yaml

-  p1: {x:  1.0, y:  1.0, z:  1.0}
-  p2: {x: -1.0, y: -1.0, z: -1.0}
+# # safety_area
+/mavros/safety_area:


Safety area is quite deprecated feature. I've removed it from ROS2.

vooon · 2023-02-24T09:05:20Z

mavros/launch/px4_config.yaml

-    orientation: PITCH_270
+/mavros/distance_sensor:
+  ros__parameters:
+    config: |


Yes, that's what i mean. +1

vooon · 2023-02-24T09:06:56Z

mavros/launch/px4_config.yaml

+    mocap_transform: true   # ~mocap/tf instead of pose
+    use_vision: false       # ~vision (pose)
+    # origin (default: Zürich)
+    geo_origin:


mavros/mavros_extras/src/plugins/fake_gps.cpp

Lines 133 to 144 in 6e86500

node_declare_and_watch_parameter(

"geo_origin.lat", 47.3667, [&](const rclcpp::Parameter & p) {

map_origin.x() = p.as_double();

});

node_declare_and_watch_parameter(

"geo_origin.lon", 8.5500, [&](const rclcpp::Parameter & p) {

map_origin.y() = p.as_double();

});

node_declare_and_watch_parameter(

"geo_origin.alt", 408.0, [&](const rclcpp::Parameter & p) {

map_origin.z() = p.as_double();

});

So it should look like:

fake_gps: ros__parameters: geo_origin.lat: 47.3667

vacabun · 2023-02-24T09:35:09Z

I have used this launch, but just tested a little.

I think is a good idea. That will be really convenient for using multiple drones.

vacabun · 2023-02-24T10:18:03Z

The plugin odometry in apm launch has two parameters.

mavros/mavros/launch/apm_config.yaml

Lines 228 to 232 in a55c747

    
           # odom 
        
           odometry: 
        
             frame_tf: 
        
               desired_frame: "ned" 
        
             estimator_type: 3 # check enum MAV_ESTIMATOR_TYPE in <https://mavlink.io/en/messages/common.html>

I can't find the parameters frame_tf.desired_frame and estimator_type in mavros_extras/src/plugins/odom.cpp.
Should I modify it as px4 launch.

mavros/mavros/launch/px4_config.yaml

Lines 232 to 235 in a55c747

    
           odometry: 
        
             fcu: 
        
               odom_parent_id_des: "map"    # desired parent frame rotation of the FCU's odometry 
        
               odom_child_id_des: "base_link"    # desired child frame rotation of the FCU's odometry

Finally, it looks like:

# odom
/mavros/odometry:
  ros__parameters:
    fcu.odom_parent_id_des: "map"    # desired parent frame rotation of the FCU's odometry
    fcu.odom_child_id_des: "base_link"    # desired child frame rotation of the FCU's odometry

2.Remove plugin safety_area in launch parameters file.

vooon · 2023-02-24T10:34:08Z

Odom have changed a lot, so it's not a surprise that conf outdated.

We should use parameters what ROS2 have.

mavros/mavros_extras/src/plugins/odom.cpp

Lines 67 to 74 in 6e86500

    
           node_declare_and_watch_parameter( 
        
             "fcu.odom_parent_id_des", "map", [&](const rclcpp::Parameter & p) { 
        
               fcu_odom_parent_id_des = p.as_string(); 
        
             }); 
        
           node_declare_and_watch_parameter( 
        
             "fcu.odom_child_id_des", "map", [&](const rclcpp::Parameter & p) { 
        
               fcu_odom_child_id_des = p.as_string(); 
        
             });

vooon

LGTM, Thanks!

vooon · 2023-02-24T11:12:58Z

Yes, in ROS2 i've implemented idea of splitting mavlink connections and UAS. So if previously you have to run several copies of whole mavros_node, and maybe gcs_nodes, now it utilizes ros2 loadable node classes.

FCU1 -> Router -> UAS1
FCU2 --^          &-> UAS2
                  &-> GCS

fix px4 launch file on ROS2.

3de8bcf

vooon reviewed Feb 23, 2023

View reviewed changes

fix plugin distance_sensor parses yaml from string parameter.

906d9e3

vacabun added 2 commits February 24, 2023 15:00

fix apm launch files to ROS2.

07d3752

remove file 'apm2.lunch'.

a390b06

vooon added this to the Version 2.5 milestone Feb 24, 2023

vooon added this to TODO in ROS2 support via automation Feb 24, 2023

vooon added enhancement ros2 labels Feb 24, 2023

remove event_launcher.yaml mavlink_bridge.launch

8352765

vooon reviewed Feb 24, 2023

View reviewed changes

1.Change part of parameters to be flat In ROS2.

e684ed6

2.Remove plugin safety_area in launch parameters file.

change plugin odom parameters in apm launch.

7304cf0

vooon approved these changes Feb 24, 2023

View reviewed changes

ROS2 support automation moved this from TODO to In Progress Feb 24, 2023

vooon merged commit ea55539 into mavlink:ros2 Feb 24, 2023

ROS2 support automation moved this from In Progress to Done Feb 24, 2023

vooon mentioned this pull request Feb 24, 2023

make Simple launch file #1747

Closed

vacabun deleted the px4_launch_fix branch February 24, 2023 11:38

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fix px4 launch file for ROS2 #1834

fix px4 launch file for ROS2 #1834

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vooon commented Feb 24, 2023

	// tf subsection
	node_declare_and_watch_parameter(
	"tf.send", false, [&](const rclcpp::Parameter & p) {
	tf_send = p.as_bool();
	});
	node_declare_and_watch_parameter(
	"tf.frame_id", "map", [&](const rclcpp::Parameter & p) {
	tf_frame_id = p.as_string();
	});
	// The global_origin should be represented as "earth" coordinate frame (ECEF) (REP 105)
	node_declare_and_watch_parameter(
	"tf.global_frame_id", "earth", [&](const rclcpp::Parameter & p) {
	tf_global_frame_id = p.as_string();
	});
	node_declare_and_watch_parameter(
	"tf.child_frame_id", "base_link", [&](const rclcpp::Parameter & p) {
	tf_child_frame_id = p.as_string();
	});

	node_declare_and_watch_parameter(
	"geo_origin.lat", 47.3667, [&](const rclcpp::Parameter & p) {
	map_origin.x() = p.as_double();
	});
	node_declare_and_watch_parameter(
	"geo_origin.lon", 8.5500, [&](const rclcpp::Parameter & p) {
	map_origin.y() = p.as_double();
	});
	node_declare_and_watch_parameter(
	"geo_origin.alt", 408.0, [&](const rclcpp::Parameter & p) {
	map_origin.z() = p.as_double();
	});

fix px4 launch file for ROS2 #1834

fix px4 launch file for ROS2 #1834

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