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px4-offboard

This repository contains a python examples for offboard control on ROS2 with PX4

The px4_offboard package contains the following nodes

  • offboard_uav.py: Example of offboard mission of a single drones
  • offboard_uav.py: Example of offboard mission of two drones

Run Offboard Mission: Single drone

On the first terminal, run the following:

cd PX4-Autopilot
make px4_sitl gz_x500

On the second terminal terminal, run Micro XRCE-DDS:

MicroXRCEAgent udp4 -p 8888

In order to run the offboard position control example, open a third terminal and run the the node.

cd swarm_uav_config/offboard_ws
source install/local_setup.bash
ros2 run px4_offboard offboard_uav

The drone should takeoff, follow the script by walking to the two waypoints in sequence and finally it should land and disarm for the mission to finish correctly.

Run Offboard Mission: Two drones

On the first terminal, run the following:

cd PX4-Autopilot
make px4_sitl

To build the sitl. After it finishes, on the same terminal run the first drone sim:

PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,3" PX4_GZ_MODEL=x500 PX4_MICRODDS_NS="vhcl1" MICRODDS_PORT="8888" ./build/px4_sitl_default/bin/px4 -i 1

That launches the gazebo sim of a drone spawned at position 0,3,0 named vhcl1 and starts a microdds client connected at port 8888. On the second terminal, run Micro XRCE-DDS Agent that will pub/sub to the first drone only:

MicroXRCEAgent udp4 -p 8888

On a third terminal run the sim for the second drone:

cd PX4-Autopilot
PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,6" PX4_GZ_MODEL=x500 PX4_MICRODDS_NS="vhcl2" MICRODDS_PORT="7777" ./build/px4_sitl_default/bin/px4 -i 2

That launches the gazebo sim of a drone spawned at position 0,6,0 named vhcl2 and starts a microdds client connected at port 7777. On the forth terminal, run Micro XRCE-DDS Agent that will pub/sub to the second drone only:

MicroXRCEAgent udp4 -p 7777

In order to run the offboard mission example for two drones, open a fifth terminal and run the the node.

cd swarm_uav_config/offboard_ws
source install/local_setup.bash
ros2 run px4_offboard offboard_uav2

The script should run and in gazebo both drones should takeoff, reach the two waypoints and finally land.