mavros_control

A ROS2 package for controlling ArduPilot-based robots.

This package includes the controller node, which has methods to arm/disarm, take off/land, set the home location, visit a given set of waypoints if a GPS is available, and RC-control to move the vehicle.

Package setup

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/itskalvik/mavros_control.git
cd mavros_control
python3 -m pip install -r requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -y
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Demo

The package includes a demo launch file that starts the controller node. The node arms the vehicle, moves it, and then disarms it:

ros2 launch mavros_control demo.launch.py

Parameters

The launch file has the following paramerets:

• xy_tolerance (default: 0.7):

  XY-axis distance (meters) tolerance used to determine if a waypoint is reached

• z_tolerance (default: 0.3):

  Z-axis distance (meters) tolerance used to determine if a waypoint is reached, used only when use_altitude is True

• use_altitude (default: False):

  If True 3D waypoints are used for the path

• navigation_type (default: 0):

  If 0: Use global position based navigation (assumes access to GPS)

  If 1: Use raw rc controls for navigation