Usage of PX4 in Offboard Mode

The purpose of this project is to use the PX4 Autopilot software in Offboard mode with ROS2. It allows the control of a PX4 drone in a simulation environment using data from a joystick.

Installation

1. PX4 Autoplot

2. drone-control packages installation:

git clone git@github.com:serkanMzlm/drone-control.git
cd drone-control
git submodule init
git submodule update

Build

• Firstly, the 'px4_msgs' package needs to be built and included in the system. This is necessary because other packages need the messages provided by 'px4_msgs' during their build process

colcon build --packages-select px4_msgs
. install/setup.bash

• After building and including the 'px4_msgs' package in the system, all files can be built.

colcon build 
. install/setup.bash

Caution: Messages within the 'px4_msgs' package in PX4 Autopilot software may change in future versions. Therefore, errors may occur during ROS2 execution. To address these errors, copy the 'px4_msgs' files from PX4 Autopilot to the 'px4_msgs' folder. PX4-Autopilot/msg -> drone-control/px4_msgs

Run

• Terminal 1:

make px4_sitl gz_x500 

• Terminal 2:

ros2 launch drone_sim startup.launch.py

• Terminal 3:

ros2 run controller  controller_node

• Desired packages can be toggled on and off in the launch file