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px4_offboard_lowlevel

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Low-level control of PX4 Multi-rotor vehicles in Offboard mode

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# PX4 Low Level Offboard Control using ROS 2

This package is an example of how to control a [PX4](https://docs.px4.io/main/en/) Multi-rotor Vehicle in [offboard](https://docs.px4.io/main/en/flight_modes/offboard.html) mode with **Low-level commands** through ROS 2.

By Low-level commands, we mean that the commands that are sent to PX4 are either:
1. [Attitude Setpoints](https://docs.px4.io/main/en/msg_docs/VehicleAttitudeSetpoint.html) (Collective Thrust + Attitude),

2. [Thrust](https://docs.px4.io/main/en/msg_docs/VehicleThrustSetpoint.html) + [Torque setpoints](https://docs.px4.io/main/en/msg_docs/VehicleTorqueSetpoint.html)

3. [Direct Actuator commands](https://docs.px4.io/main/en/msg_docs/ActuatorMotors.html) (throttles of the motors).

You can switch between the different control modes using ROS 2 parameter.

This videos below shows a simulated quadrotor controlled with this package with [Direct Actuator commands](https://docs.px4.io/main/en/msg_docs/ActuatorMotors.html).

![Direct-Actuator-commands](https://raw.githubusercontent.com/SaxionMechatronics/px4_offboard_lowlevel/main/instructions/media/iris-sitl-act-cmds-harmonic.gif)

# Contents
## Package Setup
Guide on the installation of the low level controller package and its dependencies. 
[View Package Setup Instructions](instructions/package_setup.md)

## Explanation
Explanation of the controller node and where you can implement your own controller. 
[View Explanation](instructions/explanation.md)

## Simulation Demo
Instructions to run the demo using the included circle trajector generator.
[View Simulation Demo Instructions](instructions/demo.md)

# Acknowledgments

This work from the SMART research group in Saxion University of Applied Sciences was supported in part by:
* Regioorgaan SIA under project **RAAK-PRO MARS4EARTH** (RAAK.PRO03.112):
* Horizon Europe CSA under project: **AeroSTREAM** (Grant Agreement number: 101071270).

This package was inspired by many open-source package form the PX4 Community, so would like to thank all the contributors of this great community.

px4_offboard_lowlevel

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