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Auterion / px4-ros2-interface-lib

Library to interface with PX4 from a companion computer using ROS 2
BSD 3-Clause "New" or "Revised" License
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Go-to setpoint type #4

Closed tstastny closed 11 months ago

tstastny commented 1 year ago

Adds a "Go-to" setpoint type which streams a position and (optional) heading setpoint, meant to be handled by a position and heading smoother on the flight controller. Main idea: dump in whatever position and heading you want, and they will be smoothly followed by the autopilot. Additional fields for velocity and heading rate limits are included.

An example mode using the Go-to setpoint type is included: https://github.com/Auterion/px4-ros2-interface-lib/assets/8026163/76795ebc-13b9-4637-b7f7-867e773047fa

Depends on: https://github.com/PX4/PX4-Autopilot/pull/22375

Docs: https://github.com/PX4/PX4-user_guide/pull/2935

tstastny commented 11 months ago

@bkueng i made quick minimal changes - but the rest i think we just do in a follow up to enable folks quickly on a working example for goto, ok for you?