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Jaeyoung-Lim / mavros_controllers

Aggressive trajectory tracking using mavros for PX4 enabled vehicles
BSD 3-Clause "New" or "Revised" License
400 stars 164 forks source link

Migration to ROS2 #231

Open mzahana opened 1 year ago

mzahana commented 1 year ago

Hi @Jaeyoung-Lim

Any plans to make a version of this package for ROS2?

Jaeyoung-Lim commented 1 year ago

@mzahana What parts would you want on ros2?

mzahana commented 1 year ago

I would imagine refactoring the geometric controller node, and any related nodes, to subscribe to ROS2 topics to get reference trajectory, and send setpoint to PX4.

I would not use MAVROS in this case since there is communication with PX4 through RTSP

Jaeyoung-Lim commented 1 year ago

@mzahana Any updates regarding this matter? I think it would take me max. 1 day to port this over if it is useful for anyone

mzahana commented 1 year ago

It is definitely in the plan. I just have not had the time to work on it. Maybe I will get some time in a week or 2.

Jaeyoung-Lim commented 1 year ago

@mzahana We can try to work together to also get it done more quickly.

I have most parts without the controller done here: https://github.com/Jaeyoung-Lim/px4-offboard

mzahana commented 1 year ago

I saw your repo for the offboard controller in ros2.

Are you thinking of a c++ implementation or Python one ? You use the Eigen library, and we would need to go C++ to have minimum migration time, compared to Python.

Also, I have a concern about the name of the package. If it is mostly a geometric controller, and mavros is not yet mature for ros2 integration, why would it be called mavros_controllers ?

I would explicitly call it something like geometric_controller_ros2, or something similar.

ZhongmouLi commented 9 months ago

I am interested in this topic, especially c++ version of mavros controller. But I am just beginning ros2. Let me see what I can do.