PX4 Low Level Offboard Control using ROS 2

This package is an example of how to control a PX4 Multi-rotor Vehicle in offboard mode with Low-level commands through ROS 2.

By Low-level commands, we mean that the commands that are sent to PX4 are either:

1. Attitude Setpoints (Collective Thrust + Attitude),

2. Thrust + Torque setpoints

3. Direct Actuator commands (throttles of the motors).

You can switch between the different control modes using ROS 2 parameter.

This videos below shows a simulated quadrotor controlled with this package with Direct Actuator commands.

Contents

Package Setup

Guide on the installation of the low level controller package and its dependencies.

Explanation

Explanation of the controller node and where you can implement your own controller.

Simulation Demo

Instructions to run the demo using the included circle trajector generator.

Acknowledgments

This work from the SMART research group in Saxion University of Applied Sciences was supported in part by:

• Regioorgaan SIA under project RAAK-PRO MARS4EARTH (RAAK.PRO03.112):
• Horizon Europe CSA under project: AeroSTREAM (Grant Agreement number: 101071270).

This package was inspired by many open-source package form the PX4 Community, so would like to thank all the contributors of this great community.