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Add example that uses VehicleCommand service
Signed-off-by: Beniamino Pozzan <[email protected]>
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<version>0.1.0</version> | ||
<description>Package to interface ROS 2 with PX4</description> | ||
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<maintainer email="[email protected]">Nuno Marques</maintainer> | ||
<maintainer email="[email protected]">Beniamino Pozzan</maintainer> | ||
<author email="[email protected]">Beniamino Pozzan</author> | ||
<author email="[email protected]">Nuno Marques</author> | ||
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<license>BSD 3-Clause</license> | ||
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/**************************************************************************** | ||
* | ||
* Copyright 2023 PX4 Development Team. All rights reserved. | ||
* | ||
* Redistribution and use in source and binary forms, with or without | ||
* modification, are permitted provided that the following conditions are met: | ||
* | ||
* 1. Redistributions of source code must retain the above copyright notice, this | ||
* list of conditions and the following disclaimer. | ||
* | ||
* 2. Redistributions in binary form must reproduce the above copyright notice, | ||
* this list of conditions and the following disclaimer in the documentation | ||
* and/or other materials provided with the distribution. | ||
* | ||
* 3. Neither the name of the copyright holder nor the names of its contributors | ||
* may be used to endorse or promote products derived from this software without | ||
* specific prior written permission. | ||
* | ||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | ||
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
* POSSIBILITY OF SUCH DAMAGE. | ||
* | ||
****************************************************************************/ | ||
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/** | ||
* @brief Offboard control example | ||
* @file offboard_control.cpp | ||
* @addtogroup examples * | ||
* @author Beniamino Pozzan <[email protected]> | ||
* @author Mickey Cowden <[email protected]> | ||
* @author Nuno Marques <[email protected]> | ||
*/ | ||
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#include <px4_msgs/msg/offboard_control_mode.hpp> | ||
#include <px4_msgs/msg/trajectory_setpoint.hpp> | ||
#include <px4_msgs/msg/vehicle_control_mode.hpp> | ||
#include <px4_msgs/srv/vehicle_command.hpp> | ||
#include <rclcpp/rclcpp.hpp> | ||
#include <stdint.h> | ||
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#include <chrono> | ||
#include <iostream> | ||
#include <string> | ||
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using namespace std::chrono; | ||
using namespace std::chrono_literals; | ||
using namespace px4_msgs::msg; | ||
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class OffboardControl : public rclcpp::Node | ||
{ | ||
public: | ||
OffboardControl(std::string px4_namespace) : | ||
Node("offboard_control_srv"), | ||
state_{State::init}, | ||
service_result_{0}, | ||
service_done_{false}, | ||
offboard_control_mode_publisher_{this->create_publisher<OffboardControlMode>(px4_namespace+"in/offboard_control_mode", 10)}, | ||
trajectory_setpoint_publisher_{this->create_publisher<TrajectorySetpoint>(px4_namespace+"in/trajectory_setpoint", 10)}, | ||
vehicle_command_client_{this->create_client<px4_msgs::srv::VehicleCommand>(px4_namespace+"vehicle_command")} | ||
{ | ||
RCLCPP_INFO(this->get_logger(), "Starting Offboard Control example with PX4 services"); | ||
RCLCPP_INFO_STREAM(this->get_logger(), "Waiting for " << px4_namespace << "vehicle_command service"); | ||
while (!vehicle_command_client_->wait_for_service(1s)) { | ||
if (!rclcpp::ok()) { | ||
RCLCPP_ERROR(this->get_logger(), "Interrupted while waiting for the service. Exiting."); | ||
return; | ||
} | ||
RCLCPP_INFO(this->get_logger(), "service not available, waiting again..."); | ||
} | ||
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timer_ = this->create_wall_timer(100ms, std::bind(&OffboardControl::timer_callback, this)); | ||
} | ||
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void switch_to_offboard_mode(); | ||
void arm(); | ||
void disarm(); | ||
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private: | ||
enum class State{ | ||
init, | ||
offboard_requested, | ||
wait_for_stable_offboard_mode, | ||
arm_requested, | ||
armed | ||
} state_; | ||
uint8_t service_result_; | ||
bool service_done_; | ||
rclcpp::TimerBase::SharedPtr timer_; | ||
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rclcpp::Publisher<OffboardControlMode>::SharedPtr offboard_control_mode_publisher_; | ||
rclcpp::Publisher<TrajectorySetpoint>::SharedPtr trajectory_setpoint_publisher_; | ||
rclcpp::Client<px4_msgs::srv::VehicleCommand>::SharedPtr vehicle_command_client_; | ||
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void publish_offboard_control_mode(); | ||
void publish_trajectory_setpoint(); | ||
void request_vehicle_command(uint16_t command, float param1 = 0.0, float param2 = 0.0); | ||
void response_callback(rclcpp::Client<px4_msgs::srv::VehicleCommand>::SharedFuture future); | ||
void timer_callback(void); | ||
}; | ||
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/** | ||
* @brief Send a command to switch to offboard mode | ||
*/ | ||
void OffboardControl::switch_to_offboard_mode(){ | ||
RCLCPP_INFO(this->get_logger(), "requesting switch to Offboard mode"); | ||
request_vehicle_command(VehicleCommand::VEHICLE_CMD_DO_SET_MODE, 1, 6); | ||
} | ||
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/** | ||
* @brief Send a command to Arm the vehicle | ||
*/ | ||
void OffboardControl::arm() | ||
{ | ||
RCLCPP_INFO(this->get_logger(), "requesting arm"); | ||
request_vehicle_command(VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 1.0); | ||
} | ||
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/** | ||
* @brief Send a command to Disarm the vehicle | ||
*/ | ||
void OffboardControl::disarm() | ||
{ | ||
RCLCPP_INFO(this->get_logger(), "requesting disarm"); | ||
request_vehicle_command(VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0); | ||
} | ||
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/** | ||
* @brief Publish the offboard control mode. | ||
* For this example, only position and altitude controls are active. | ||
*/ | ||
void OffboardControl::publish_offboard_control_mode() | ||
{ | ||
OffboardControlMode msg{}; | ||
msg.position = true; | ||
msg.velocity = false; | ||
msg.acceleration = false; | ||
msg.attitude = false; | ||
msg.body_rate = false; | ||
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000; | ||
offboard_control_mode_publisher_->publish(msg); | ||
} | ||
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/** | ||
* @brief Publish a trajectory setpoint | ||
* For this example, it sends a trajectory setpoint to make the | ||
* vehicle hover at 5 meters with a yaw angle of 180 degrees. | ||
*/ | ||
void OffboardControl::publish_trajectory_setpoint() | ||
{ | ||
TrajectorySetpoint msg{}; | ||
msg.position = {0.0, 0.0, -5.0}; | ||
msg.yaw = -3.14; // [-PI:PI] | ||
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000; | ||
trajectory_setpoint_publisher_->publish(msg); | ||
} | ||
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/** | ||
* @brief Publish vehicle commands | ||
* @param command Command code (matches VehicleCommand and MAVLink MAV_CMD codes) | ||
* @param param1 Command parameter 1 | ||
* @param param2 Command parameter 2 | ||
*/ | ||
void OffboardControl::request_vehicle_command(uint16_t command, float param1, float param2) | ||
{ | ||
auto request = std::make_shared<px4_msgs::srv::VehicleCommand::Request>(); | ||
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VehicleCommand msg{}; | ||
msg.param1 = param1; | ||
msg.param2 = param2; | ||
msg.command = command; | ||
msg.target_system = 1; | ||
msg.target_component = 1; | ||
msg.source_system = 1; | ||
msg.source_component = 1; | ||
msg.from_external = true; | ||
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000; | ||
request->request = msg; | ||
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service_done_ = false; | ||
auto result = vehicle_command_client_->async_send_request(request, std::bind(&OffboardControl::response_callback, this, | ||
std::placeholders::_1)); | ||
RCLCPP_INFO(this->get_logger(), "Command send"); | ||
} | ||
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void OffboardControl::timer_callback(void){ | ||
static uint8_t num_of_steps = 0; | ||
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// offboard_control_mode needs to be paired with trajectory_setpoint | ||
publish_offboard_control_mode(); | ||
publish_trajectory_setpoint(); | ||
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switch (state_) | ||
{ | ||
case State::init : | ||
switch_to_offboard_mode(); | ||
state_ = State::offboard_requested; | ||
break; | ||
case State::offboard_requested : | ||
if(service_done_){ | ||
if (service_result_==0){ | ||
RCLCPP_INFO(this->get_logger(), "Entered offboard mode"); | ||
state_ = State::wait_for_stable_offboard_mode; | ||
} | ||
else{ | ||
RCLCPP_ERROR(this->get_logger(), "Failed to enter offboard mode, exiting"); | ||
rclcpp::shutdown(); | ||
} | ||
} | ||
break; | ||
case State::wait_for_stable_offboard_mode : | ||
if (++num_of_steps>10){ | ||
arm(); | ||
state_ = State::arm_requested; | ||
} | ||
break; | ||
case State::arm_requested : | ||
if(service_done_){ | ||
if (service_result_==0){ | ||
RCLCPP_INFO(this->get_logger(), "vehicle is armed"); | ||
state_ = State::armed; | ||
} | ||
else{ | ||
RCLCPP_ERROR(this->get_logger(), "Failed to arm, exiting"); | ||
rclcpp::shutdown(); | ||
} | ||
} | ||
break; | ||
default: | ||
break; | ||
} | ||
} | ||
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void OffboardControl::response_callback( | ||
rclcpp::Client<px4_msgs::srv::VehicleCommand>::SharedFuture future) { | ||
auto status = future.wait_for(1s); | ||
if (status == std::future_status::ready) { | ||
auto reply = future.get()->reply; | ||
service_result_ = reply.result; | ||
switch (service_result_) | ||
{ | ||
case reply.VEHICLE_CMD_RESULT_ACCEPTED: | ||
RCLCPP_INFO(this->get_logger(), "command accepted"); | ||
break; | ||
case reply.VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED: | ||
RCLCPP_WARN(this->get_logger(), "command temporarily rejected"); | ||
break; | ||
case reply.VEHICLE_CMD_RESULT_DENIED: | ||
RCLCPP_WARN(this->get_logger(), "command denied"); | ||
break; | ||
case reply.VEHICLE_CMD_RESULT_UNSUPPORTED: | ||
RCLCPP_WARN(this->get_logger(), "command unsupported"); | ||
break; | ||
case reply.VEHICLE_CMD_RESULT_FAILED: | ||
RCLCPP_WARN(this->get_logger(), "command failed"); | ||
break; | ||
case reply.VEHICLE_CMD_RESULT_IN_PROGRESS: | ||
RCLCPP_WARN(this->get_logger(), "command in progress"); | ||
break; | ||
case reply.VEHICLE_CMD_RESULT_CANCELLED: | ||
RCLCPP_WARN(this->get_logger(), "command cancelled"); | ||
break; | ||
default: | ||
RCLCPP_WARN(this->get_logger(), "command reply unknown"); | ||
break; | ||
} | ||
service_done_ = true; | ||
} else { | ||
RCLCPP_INFO(this->get_logger(), "Service In-Progress..."); | ||
} | ||
} | ||
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int main(int argc, char *argv[]) | ||
{ | ||
setvbuf(stdout, NULL, _IONBF, BUFSIZ); | ||
rclcpp::init(argc, argv); | ||
rclcpp::spin(std::make_shared<OffboardControl>("/fmu/")); | ||
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rclcpp::shutdown(); | ||
return 0; | ||
} |