[I am using ROS2 foxy and fastRTPS]
I would like to convert the waypoints in the .plan JSON file generated from QGC to setpoints to control my drone in the offboard mode.
The reason why I am doing this is that I would like to implement a collision avoidance algorithm and to perform the avoidance maneuver, I will change setpoints that are sent by ROS2 in the middle of the flight.
Is there a guide on how to map the JSON file to offboard setpoint?
Also, do you think it would be better if I avoid the offboard mode and modify the mission waypoints directly in the middle of a flight? if yes, is that possible with the current state of px4_ros_com?
Did you see there is an obstacle avoidance available with PX4 and using ROS for Mission and Offboard mode right ?
Simple example of parsing mission json you may find here: https://github.com/copterspace/QGC_plan_fix/blob/master/plan_fix_heading.py
Simple example of steereng offboard node to hit the red baloon is here: https://github.com/copterspace/robocross2019 (but description is in Rissian)
But obstacle avoidance, imho, does not require the mission change, see link in above Katawan post.
The offboard obstacle avoidance here sends local coordinated. However, I am trying to send the global coordinates (LLA) similar to the waypoints in the QGC mission plan file. I tried to send the latitude/longitude/altitude in a position_setpoint message from micrortps_agent to micrortps_client but it didn’t move the drone. I wrote another issue here