How to do OFFBOARD to gps waypoint

skysingh commented 7 years ago

First of all I am very impressed witb mavros. Nice job. I am running a Jetson TX1 connected over uart1 to a pixhawk. I can read mavros parameters but I am confused by two things even after spending a lot of time reading. Maybe somone can help a bit

Is there some example python node code to set mode. I need to switch to OFFBOARD.
I can read the gps fix but again I need an example of how to send it to the pixhawk. I am aware that I need to update better than 2hz to avoid failsafe timeout.

I am trying to build a rover that normally runs in AUTO and follows the preset way points. But when an obstruction is detected by the Jetson TX1 it should switch the pixhawk to GUIDED and send it a new temporary global gps waypoint. Once the temporary waypoint is reached the TX1 should switch the pixhawk back to auto. Thanks.

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Issue details

Please describe the problem, or desired feature

MAVROS version and platform

Mavros: ?0.18.4? ROS: ?Kinetic? Ubuntu: ?16.04?

Autopilot type and version

[ ] ArduPilot [ ] PX4

Version: ?3.7.1?

Node logs

copy output of mavros_node. Usually console where you run roslaunch

Diagnostics

place here result of:
rostopic echo -n1 /diagnostics

Check ID

rosrun mavros checkid

AlexisTM commented 7 years ago

Hey, this is an example for offboard mode.

https://dev.px4.io/ros-mavros-offboard.html

TSC21 commented 7 years ago

I miss the point here: You want to work on OFFBOARD mode or in GUIDED mode? It seems to me that you are messing the modes. From my evaluation, you will want a obstacle avoidance process that changes between modes. OFFBOARD won't send GPS waypoints, but only setpoints. So probably you want to navigate in auto and then, when an obstacle is detected, send setpoints to navigate in the local frame, till it gets again to a safe path to a waypoint that allows the rover to get to the next waypoint.

TSC21 commented 7 years ago

@AlexisTM do you have updates?

AlexisTM commented 7 years ago

Got no update

TSC21 commented 7 years ago

@skysingh updates?

TSC21 commented 7 years ago

Closing as stalled. @skysingh please reopen if you still have problems.