Does PX4 support OFFBOARD mode for Rover?

PX4 Autopilot
1

Hi,

I would like to control a Rover in OFFBOARD mode through MAVROS, e.g. sending position setpoints. I am not sure if this is currently supported in PX4. If it is, I would appreciate if someone points me in the right directions.

I also would like to be able to test both quadcopter and rover concurrently in SITL. Is this also supported, or only one of them can be simulated at a time?

@Jaeyoung-Lim any ideas?

Thank you.

2

Both are supported and work out of the box

For multivehicle sims: https://dev.px4.io/master/en/simulation/multi_vehicle_simulation_gazebo.html

3

Thanks @Jaeyoung-Lim. I just tried to launch rover in Gazebo using
roslaunch px4 mavros_posix_sitl.launch vehicle:=rover
and I noticed that the real-time factor in Gazebo does not reach 1. It’s in the range 0.6-0.7. I am not sure what the bottleneck is. I have a decent machine and I would not expect it to be a limitation as I can run multi-drone simulation with real-time factor 1.

Any ideas what the issue could be?

4

I also would like to mention that I am using PX4 v1.10.1

5

@Mzahana It is something happening recently and I am not sure what is causing this

6

The original Gazebo model does not slow down the simulation. So it is most probably related to the additions and plugins that are added to interface it to PX4

7

Have you found a solution for this issue? I’m facing the same problem, using PX4 v.1.11.
Actually, using any two different vehicles will kill the real-time factor, which drops to 0.1.

8

@fulano Will be fixed if you try latest master