hi,
thanks for replying
I am using this offboard_control.cpp.
The problem i think is that the cmake does not correctly refer to the files that exist in the same workspace, but in different packages.
here is the code, its the same as the example provided in the px4_ros_com package, but i have made the timesync path absolute.
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/**
* @brief Offboard control example
* @file offboard_control.cpp
* @addtogroup examples
* @author Mickey Cowden <info@cowden.tech>
* @author Nuno Marques <nuno.marques@dronesolutions.io>
* The TrajectorySetpoint message and the OFFBOARD mode in general are under an ongoing update.
* Please refer to PR: https://github.com/PX4/PX4-Autopilot/pull/16739 for more info.
* As per PR: https://github.com/PX4/PX4-Autopilot/pull/17094, the format
* of the TrajectorySetpoint message shall change.
*/
#include <px4_msgs/msg/offboard_control_mode.hpp>
#include <px4_msgs/msg/trajectory_setpoint.hpp>
#include "/home/aamir/dev_ws/install/px4_msgs/include/px4_msgs/msg/timesync.hpp"
#include <px4_msgs/msg/vehicle_command.hpp>
#include <px4_msgs/msg/vehicle_control_mode.hpp>
#include <rclcpp/rclcpp.hpp>
#include <stdint.h>
#include <chrono>
#include <iostream>
using namespace std::chrono;
using namespace std::chrono_literals;
using namespace px4_msgs::msg;
class OffboardControl : public rclcpp::Node {
public:
OffboardControl() : Node("offboard_control") {
#ifdef ROS_DEFAULT_API
offboard_control_mode_publisher_ =
this->create_publisher<OffboardControlMode>("OffboardControlMode_PubSubTopic", 10);
trajectory_setpoint_publisher_ =
this->create_publisher<TrajectorySetpoint>("TrajectorySetpoint_PubSubTopic", 10);
vehicle_command_publisher_ =
this->create_publisher<VehicleCommand>("VehicleCommand_PubSubTopic", 10);
#else
offboard_control_mode_publisher_ =
this->create_publisher<OffboardControlMode>("OffboardControlMode_PubSubTopic");
trajectory_setpoint_publisher_ =
this->create_publisher<TrajectorySetpoint>("TrajectorySetpoint_PubSubTopic");
vehicle_command_publisher_ =
this->create_publisher<VehicleCommand>("VehicleCommand_PubSubTopic");
#endif
// get common timestamp
timesync_sub_ =
this->create_subscription<px4_msgs::msg::Timesync>("Timesync_PubSubTopic", 10,
[this](const px4_msgs::msg::Timesync::UniquePtr msg) {
timestamp_.store(msg->timestamp);
});
offboard_setpoint_counter_ = 0;
auto timer_callback = [this]() -> void {
if (offboard_setpoint_counter_ == 10) {
// Change to Offboard mode after 10 setpoints
this->publish_vehicle_command(VehicleCommand::VEHICLE_CMD_DO_SET_MODE, 1, 6);
// Arm the vehicle
this->arm();
}
// offboard_control_mode needs to be paired with trajectory_setpoint
publish_offboard_control_mode();
publish_trajectory_setpoint();
// stop the counter after reaching 11
if (offboard_setpoint_counter_ < 11) {
offboard_setpoint_counter_++;
}
};
timer_ = this->create_wall_timer(100ms, timer_callback);
}
void arm() const;
void disarm() const;
private:
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Publisher<OffboardControlMode>::SharedPtr offboard_control_mode_publisher_;
rclcpp::Publisher<TrajectorySetpoint>::SharedPtr trajectory_setpoint_publisher_;
rclcpp::Publisher<VehicleCommand>::SharedPtr vehicle_command_publisher_;
rclcpp::Subscription<px4_msgs::msg::Timesync>::SharedPtr timesync_sub_;
std::atomic<uint64_t> timestamp_; //!< common synced timestamped
uint64_t offboard_setpoint_counter_; //!< counter for the number of setpoints sent
void publish_offboard_control_mode() const;
void publish_trajectory_setpoint() const;
void publish_vehicle_command(uint16_t command, float param1 = 0.0,
float param2 = 0.0) const;
};
/**
* @brief Send a command to Arm the vehicle
*/
void OffboardControl::arm() const {
publish_vehicle_command(VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 1.0);
RCLCPP_INFO(this->get_logger(), "Arm command send");
}
/**
* @brief Send a command to Disarm the vehicle
*/
void OffboardControl::disarm() const {
publish_vehicle_command(VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0);
RCLCPP_INFO(this->get_logger(), "Disarm command send");
}
/**
* @brief Publish the offboard control mode.
* For this example, only position and altitude controls are active.
*/
void OffboardControl::publish_offboard_control_mode() const {
OffboardControlMode msg{};
msg.timestamp = timestamp_.load();
msg.position.data = true;
msg.velocity.data = false;
msg.acceleration.data = false;
msg.attitude.data = false;
msg.body_rate.data = false;
offboard_control_mode_publisher_->publish(msg);
}
/**
* @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() const {
TrajectorySetpoint msg{};
msg.timestamp = timestamp_.load();
msg.x = 0.0;
msg.y = 0.0;
msg.z = -5.0;
msg.yaw = -3.14; // [-PI:PI]
trajectory_setpoint_publisher_->publish(msg);
}
/**
* @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::publish_vehicle_command(uint16_t command, float param1,
float param2) const {
VehicleCommand msg{};
msg.timestamp = timestamp_.load();
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;
vehicle_command_publisher_->publish(msg);
}
int main(int argc, char* argv[]) {
std::cout << "Starting offboard control node..." << std::endl;
setvbuf(stdout, NULL, _IONBF, BUFSIZ);
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<OffboardControl>());
rclcpp::shutdown();
return 0;
}
