Local planner question


Can someone please tell me which topics are published and subscribed to when there is an obstacle within the range ?


This forum is not just for the PX4/avoidance repo. You need to explain the context of your question.

As I suspect you are talking about the local_planner in the PX4/avoidance repo, here is where you can find the list of published topics: https://github.com/PX4/avoidance/blob/master/local_planner/src/nodes/local_planner_node.cpp#L39

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great thank-you very much … however would you tell me which specific topics gets published or subscriber when the drone gets within the range of an obstacle ?


@lioneleeedadad All topics are being published whether or not it is seeing an obstacle

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I mean which topics take place or task when there is an obstacle ?


@lioneleeedadad do you mean which MAVLink message is used to communicate with PX4?


exactly and also I need to know how is the velocity of motors is sent to the px4 ?


@baumanta can probably tell you which MAVLink message is used.

how is the velocity of motors is sent to the px4 ?

There are more controllers at work, have a read here: https://dev.px4.io/master/en/concept/architecture.html


I don’t mean the messages. I mean which commands controls the motors to switch it on or switch it off .


@Jaeyoung-Lim I guess this is now the right place to discuss my problem … So I have read the architecture on https://dev.px4.io/en/ and I still don’t know how to stop the spinning of the motors in order to switch them off ?


@Omar1 I have already answered to that question on slack


@Jaeyoung-Lim Fine I’ll check it


@Jaeyoung-Lim Thanks a lot


In the avoidance ReadMe, the is a nice table listing all message flows between avoidance and PX4 firmware: https://github.com/PX4/avoidance#message-flows