so am trying to use the rover r1 and trying to use it in offboard mode first i tried using px4_msgs::msg::TrajectorySetpoint but this msg is not for rover i think its for copter so i started using px4_msgs::msg::VehicleThrustSetpoint + px4_msgs::msg::VehicleTorqueSetpoint to be able to move the rover but am not able to move the rover.
my code is this what am i doing wrong ?
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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>
*/
#include <px4_msgs/msg/offboard_control_mode.hpp>
#include <px4_msgs/msg/trajectory_setpoint.hpp>
#include <px4_msgs/msg/vehicle_thrust_setpoint.hpp>
#include <px4_msgs/msg/vehicle_torque_setpoint.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")
{
offboard_control_mode_publisher_ = this->create_publisher<OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
vehicle_thrust_setpoint_publisher_ = this->create_publisher<VehicleThrustSetpoint>("/fmu/in/vehicle_thrust_setpoint", 10);
vehicle_torque_setpoint_publisher_ = this->create_publisher<VehicleTorqueSetpoint>("/fmu/in/vehicle_torque_setpoint", 10);
vehicle_command_publisher_ = this->create_publisher<VehicleCommand>("/fmu/in/vehicle_command", 10);
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_vehicle_thrust_setpoint();
publish_vehicle_torque_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();
void disarm();
private:
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Publisher<OffboardControlMode>::SharedPtr offboard_control_mode_publisher_;
rclcpp::Publisher<VehicleCommand>::SharedPtr vehicle_command_publisher_;
rclcpp::Publisher<VehicleThrustSetpoint>::SharedPtr vehicle_thrust_setpoint_publisher_;
rclcpp::Publisher<VehicleTorqueSetpoint>::SharedPtr vehicle_torque_setpoint_publisher_;
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();
//void publish_trajectory_setpoint();
void publish_vehicle_thrust_setpoint();
void publish_vehicle_torque_setpoint();
void publish_vehicle_command(uint16_t command, float param1 = 0.0, float param2 = 0.0);
};
/**
* @brief Send a command to Arm the vehicle
*/
void OffboardControl::arm()
{
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()
{
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()
{
OffboardControlMode msg{};
msg.position = false;
msg.velocity = false;
msg.acceleration = true;
msg.attitude = false;
msg.body_rate = false;
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
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()
{
TrajectorySetpoint msg{};
msg.position = {5.0, 0.0, 0.0}; // Move 5m forward, 3m right, stay on ground
msg.yaw = 1.57; // Face right (90 degrees)
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
trajectory_setpoint_publisher_->publish(msg);
}
*/
void OffboardControl::publish_vehicle_thrust_setpoint()
{
VehicleThrustSetpoint msg{};
msg.xyz = {1.0, 0.0, 0.0};
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
vehicle_thrust_setpoint_publisher_->publish(msg);
}
void OffboardControl::publish_vehicle_torque_setpoint()
{
VehicleTorqueSetpoint msg{};
msg.xyz = {0.0, 0.0, 1.0};
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
vehicle_torque_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)
{
VehicleCommand msg{};
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;
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
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;
}