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mavros_controllers

★ 506 Open GitHub ↗

Aggressive trajectory tracking using mavros for PX4 enabled vehicles

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# mavros_controllers
[![Build Test](https://github.com/Jaeyoung-Lim/mavros_controllers/workflows/Build%20Test/badge.svg)](https://github.com/Jaeyoung-Lim/mavros_controllers/actions?query=workflow%3A%22Build+Test%22) [![DOI](https://zenodo.org/badge/140596755.svg)](https://zenodo.org/badge/latestdoi/140596755)

Controllers for controlling MAVs using the [mavros](https://github.com/mavlink/mavros) package in OFFBOARD mode.

## Overview
The repository contains controllers for controlling MAVs using the mavros package. The following packages are included in the repo
- geometric_controller: Trajectory tracking controller based on geometric control
- controller_msgs: custom message definitions
- trajectory_publisher: Node publishing setpoints as states from motion primitives / trajectories for the controller to follow.

[![Multiple drone](https://user-images.githubusercontent.com/5248102/87020057-a3e25200-c1d3-11ea-9f76-cd010cb8329a.gif)](https://user-images.githubusercontent.com/5248102/87020057-a3e25200-c1d3-11ea-9f76-cd010cb8329a.gif)

[![Hovering drone](https://img.youtube.com/vi/FRaPGjX9m-c/0.jpg)](https://youtu.be/FRaPGjX9m-c "Hovering done")

[![Circular trajectory tracking](https://img.youtube.com/vi/IEyocdnlYw0/0.jpg)](https://youtu.be/IEyocdnlYw0 "Circular trajectory tracking")

## Getting Started
### Install PX4 SITL(Only to Simulate)
Follow the instructions as shown in the [ROS with Gazebo Simulation PX4 Documentation](https://dev.px4.io/master/en/simulation/ros_interface.html)
To check if the necessary environment is setup correctly, you can run the gazebo SITL using the following command

```bash
cd <Firmware_directory>
DONT_RUN=1 make px4_sitl_default gazebo
```
To source the PX4 environment, run the following commands

```bash
cd <Firmware_directory>
source ~/catkin_ws/devel/setup.bash    # (optional)
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
```

You can run the rest of the roslaunch files in the same terminal

```bash
 roslaunch px4 posix_sitl.launch
```

You will need to source the PX4 environment in every new terminal you open to launch mavros_controllers.

### Installing mavros_controllers

Create a catkin workspace:

This folder will probably be already created since the previous process would have created it. If it is not present, do:

```bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
catkin config --merge-devel
cd ~/catkin_ws/src
wstool init
```

###### Clone this repository

```bash
cd ~/catkin_ws/src
git clone https://github.com/Jaeyoung-Lim/mavros_controllers
```

Now continue either with wstool to automatically download dependencies or download them manually.

###### With wstool

wstool automates the installation of dependencies and updates all packages. If you have no problem updating the packages required by mavros_controllers and/or any other packages, follow this procedure. If not, follow the next 'Manually Download dependencies and build' section.

```bash
cd ~/catkin_ws
wstool merge -t src src/mavros_controllers/dependencies.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y --rosdistro $ROS_DISTRO
catkin build
source ~/catkin_ws/devel/setup.bash
```

###### Manually Download dependencies and build

If you did not install with wstool, you need to manually download the dependencies:
- [catkin_simple](https://github.com/catkin/catkin_simple)
- [eigen_catkin](https://github.com/ethz-asl/eigen_catkin)
- [mav_comm](https://github.com/ethz-asl/mav_comm)

Do:

```bash
cd ~/catkin_ws/src
git clone https://github.com/catkin/catkin_simple
git clone https://github.com/ethz-asl/eigen_catkin
git clone https://github.com/ethz-asl/mav_comm
```

Build all the packages:

```bash
cd ~/catkin_ws
catkin build
source ~/catkin_ws/devel/setup.bash
```

## Running the code
Remember to source the workspace `setup.bash` before sourcing the PX4 environment.
```bash
cd <Firmware_directory>
source ~/catkin_ws/devel/setup.bash    # (necessary)
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
```
The following launch file enables the geometric controller to follow a circular trajectory

``` bash
roslaunch geometric_controller sitl_trajectory_track_circle.launch
```

If the UAV does not takeoff, please open QGroundControl and enable virtual joystick as mentioned [here](https://docs.qgroundcontrol.com/master/en/SettingsView/VirtualJoystick.html)

## Nodes
`mavros_controllers` include the following packages.
### geometric_controller

The geometric controller publishes and subscribes the following topics.
- Parameters
    - /geometric_controller/mavname (default: "iris")
    - /geometric_controller/ctrl_mode (default: MODE_BODYRATE)
    - /geometric_controller/enable_sim (default: true)
    - /geometric_controller/enable_gazebo_state (default: false)
    - /geometric_controller/max_acc (default: 7.0)
    - /geometric_controller/yaw_heading (default: 0.0)
    - /geometric_controller/drag_dx (default: 0.0)
    - /geometric_controller/drag_dy (default: 0.0)
    - /geometric_controller/drag_dz (default: 0.0)
    - /geometric_controller/attctrl_constant (default: 0.2)
    - /geometric_controller/normalizedthrust_constant (default: 0.1)

- Published Topics
	- command/bodyrate_command ( [mavros_msgs/AttitudeTarget](http://docs.ros.org/api/mavros_msgs/html/msg/AttitudeTarget.html) )
	- reference/pose ( [geometry_msgs/PoseStamped](http://docs.ros.org/kinetic/api/geometry_msgs/html/msg/PoseStamped.html) )

- Subscribed Topics
	- reference/setpoint ( [geometry_msgs/TwistStamped](http://docs.ros.org/api/geometry_msgs/html/msg/TwistStamped.html) )
	- /mavros/state ( [mavros_msgs/State](http://docs.ros.org/api/mavros_msgs/html/msg/State.html) )
	- /mavros/local_position/pose ( [geometry_msgs/PoseStamped](http://docs.ros.org/kinetic/api/geometry_msgs/html/msg/PoseStamped.html) )
	- /gazebo/model_states( [gazebo_msgs/ModelStates](http://docs.ros.org/kinetic/api/gazebo_msgs/html/msg/ModelState.html) )
	- /mavros/local_position/velocity( [geometry_msgs/TwistStamped](http://docs.ros.org/api/geometry_msgs/html/msg/TwistStamped.html) )

### trajectory_publisher

Trajectory publisher publishes continous trajectories to the trajectory_controller.
- Parameters
    - /trajectory_publisher/initpos_x (default: 0.0)
    - /trajectory_publisher/initpos_y (default: 0.0)
    - /trajectory_publisher/initpos_z (default: 1.0)
    - /trajectory_publisher/updaterate (default: 0.01)
    - /trajectory_publisher/horizon (default: 1.0)
    - /trajectory_publisher/maxjerk (default: 10.0)
    - /trajectory_publisher/trajectory_type (default: 0)
    - /trajectory_publisher/number_of_primitives (default: 7)
    - /trajectory_publisher/shape_radius (default: 1.0)

- Published Topics
	- reference/trajectory ( [nav_msgs/Path](http://docs.ros.org/kinetic/api/nav_msgs/html/msg/Path.html) )
	- reference/setpoint ( [geometry_msgs/TwistStamped](http://docs.ros.org/kinetic/api/geometry_msgs/html/msg/Twist.html) )

- Subscribed Topics
    - /trajectory_publisher/motionselector ([std_msgs/int32](http://docs.ros.org/api/std_msgs/html/msg/Int32.html));
    - /mavros/local_position/pose ( [geometry_msgs/PoseStamped](http://docs.ros.org/kinetic/api/geometry_msgs/html/msg/PoseStamped.html) )
    - /mavros/local_position/velocity( [geometry_msgs/TwistStamped](http://docs.ros.org/api/geometry_msgs/html/msg/TwistStamped.html) )

## Contact
Jaeyoung Lim 	jalim@ethz.ch

## Citation
In case you use this work as an academic context, please cite as the following.
```
@misc{jaeyoung_lim_2019_2619313,
  author       = {Jaeyoung Lim},
  title        = {{mavros_controllers - Aggressive trajectory 
                   tracking using mavros for PX4 enabled vehicles}},
  month        = mar,
  year         = 2019,
  doi          = {10.5281/zenodo.2652888},
  url          = {https://doi.org/10.5281/zenodo.2652888}
}
```

## References
[1] Lee, Taeyoung, Melvin Leoky, and N. Harris McClamroch. "Geometric tracking control of a quadrotor UAV on SE (3)." Decision and Control (CDC), 2010 49th IEEE Conference on. IEEE, 2010.

[2] Faessler, Matthias, Antonio Franchi, and Davide Scaramuzza. "Differential flatness of quadrotor dynamics subject to rotor drag for accurate tracking of high-speed trajectories." IEEE Robot. Autom. Lett 3.2 (2018): 620-626.

### Build issues:

###### catkin_simple() or eigen_catkin() not found

This should not have happened if you clone the catkin_simple and eigen_catkin repositories. Try again:

```bash
cd ~/catkin_ws/src
git clone https://github.com/catkin/catkin_simple
git clone https://github.com/ethz-asl/eigen_catkin
cd ~/catkin_ws
catkin build mavros_controllers
source ~/catkin_ws/devel/setup.bash
```

- Refer to [this issue](https://github.com/Jaeyoung-Lim/mavros_controllers/issues/61).

###### iris.sdf model not found:

Try:
```bash
cd <Firmware_directory>
make px4_sitl_default sitl_gazebo
```

or refer to [this issue](https://github.com/PX4/Firmware/issues?utf8=%E2%9C%93&q=%2Firis%2Firis.sdf+) the [ROS with Gazebo Simulation PX4 Documentation](https://dev.px4.io/master/en/simulation/ros_interface.html).

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