Hello,
I’m trying to fly a quadrotor using OptiTrack and PX4. I’m using offboard control with ROS2 and Raspberry Pi5. The optitrack data is received on a ROS2 topic and then is forwarded to the PX4 as vehicle visual odometry.
So far the quadrotor flies fine. I have created service calls for arming, disarming, takeoff and following a square trajectory.
I have mounted a camera on the drone for mapping, and after the drone takes off in offboard mode, I launch the camera nodes, which stream camera data to my laptop (using rmw_zenoh in ROS2). When I trigger the camera nodes, the drone gets unknown yaw commands, and starts to lose orientation and position. As a safety mechanism, I have to land and disarm it, since it has come close to crashing into the wall a few times.
I’m running the offboard control nodes in a docker container on the RPi, so that they remain separate from the camera node. Another reason is also because PX4 uses FastDDS which conflicts with zenoh, which I am using for transporting camera data.
I’m confused as to what might be causing this issue. Any help will be appreciated.
I have made sure this is not a battery issue, since I’ve observed it consistently at different battery levels.
Here is a link of the video: yawFail.mp4 - Google Drive