mavros_trajectory_tracking

Accurate trajectory generation and tracking with interface to PX4 autopilot. This package provides integration of

• trajectory generation and sampling based on mav_trajectory_generation, and waypoint_navigator
• trajectory tracking based on a geometric controller which is implemented in mavros_controllers

Setup

Quick setup

NOTE: This is tested with ROS melodic

• Clone this package into your ~/catkin_ws/src folder

  cd ~/catkin_ws/src
  git clone https://github.com/mzahana/mavros_trajectory_tracking.git

• You can use the setup.sh script inside the install folder to install all required dependencies

  cd ~/catkin_ws/src/mavros_trajectory_tracking/install
  ./setup.sh

  NOTE you may need to provide sudo credentials You will also be asked if you would like the PX4 v1.10.1 to be installed which should be done to run the simulation. If you are using this on real drone, PX4 installation is not required.

Installation inside docker container

You can do the setup inside a docker container that already has Ubuntu 18 + ROS Melodic + PX4 frimware v1.10.1. Use this repository to setup docker and required container, then do the setup as mentioned above.

Simulation

You can run the simulation using

roslaunch mavros_trajectory_tracking px4_trajectory_tracking.launch

You can use the ROS services provided by the waypoint_navigator_node to command the drone to go to a single waypoint, or a series of waypoints. The provided waypoint(s) will be used to generate a feasible trajectory which is the sampled and sent to the geometric_controller node which will send setpoints commands to MAVROS.

Example of sending a single waypoint to the navigator,

rosservice call /go_to_waypoint "point:
  x: 2.0
  y: 2.0
  z: 3.0"

You can use the /go_to_waypoints ROS service to request multi-waypoint trajectory

The velocity and acceleration constraints are defined in config/trajectory_simple_enu.yaml file.

You can also use the above ROS services in your custom ROS nodes.

The tracking performance can be tuned using the geometric controller parameters Kp_x, Kp_y, Kp_z, Kv_x, Kv_y, Kv_z in the geometric_controller.launch file. This is expected to vary according to the drone in use.