Hello,
I have followed this tutorial for offboard control with ROS2 : ROS 2 Offboard Control Example | PX4 User Guide.
Everything is working fine but now I am trying to play a bit with this script. I want to takeoff the drone using the command VEHICLE_CMD_NAV_TAKEOFF (seen in VehicleCommand (UORB message) | PX4 User Guide).
I modified the timer_callback to :
auto timer_callback = [this]() -> void {
if (offboard_setpoint_counter_ == 10) {
// Arm the vehicle
this->arm();
this->publish_vehicle_command(VehicleCommand::VEHICLE_CMD_NAV_TAKEOFF);
}
// stop the counter after reaching 11
if (offboard_setpoint_counter_ < 11) {
offboard_setpoint_counter_++;
}
};
My problem is that when I run this in gazebo with QGroundControl also opened, the drone arms (the propellers rotate in gazebo) and I see a message saying “Warning: Using minimum takeoff altitude: 2.50m” but the drone doesn’t move.
I might be doing something wrong but I don’t understand why it doesn’t work. Could someone please help me ?
Thanks !