Marnonel6 / ROS2_offboard_drone_control

ROS2 Off-board drone control with a companion computer and PX4 over DDS (serial). Autonomous drone with path planning.

GNU General Public License v3.0

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Closed Marnonel6 closed 10 months ago

Marnonel6 commented 1 year ago

RPi as High level controller with MavLink

Marnonel6 commented 11 months ago

Working in SITL environment with ROS2 over DDS and PX4 v1.14-rc and Ignition Gazebo

Marnonel6 commented 11 months ago

Fields2Cover path planning now also works

Marnonel6 commented 11 months ago

This week test on drone if Manual flight is stable

Marnonel6 commented 11 months ago

Manual flight is stable.

Tests this week: [10/23]

[x] Perform autonomous flight with QGC
[x] Perform off-board control autonomous flight with RPi
- [x] Arm -> Take-off -> Hover -> Land
- [x] Arm -> Take-off -> Mission (Fields2Cover) -> Fly home -> Land

Marnonel6 commented 10 months ago

East is forward (Current angle set in drone control code)

Marnonel6 commented 10 months ago

Full autonomous RPi off-board control flight test with entire mission SUCCESSFUL!

Flight log link