Trajectory generation, optimization and sampling from ethz-asl/mav_trajectory_generation
This repository contains tools for polynomial trajectory generation and optimization based on methods described in [1]. These techniques are especially suitable for rotary-wing micro aerial vehicles (MAVs).
Authors: Markus Achtelik, Michael Burri, Helen Oleynikova, Rik Bähnemann, Marija Popović
Maintainer: Rik Bähnemann, [email protected]
Affiliation: Autonomous Systems Lab, ETH Zurich
Geometric controller and Controller message from Jaeyoung-Lim/mavros_controllers
The repository contains controllers for controlling MAVs using the mavros package. The following packages are included in the repo
- geometric_controller: Trajectory tracking controller based on geometric control
- controller_msgs: custom message definitions
- trajectory_publisher: Node publishing setpoints as states from motion primitives / trajectories for the controller to follow.
- ROS: tested on ROS Melodic (Ubuntu 18.04)
- PX4 Firmware: tested on v10.0.1 - setup here
- Catkin workspace:
catkin_ws## create a workspace if you've not had one mkdir -p [path/to/ws]/catkin_ws/src cd [path/to/ws]/catkin_wscatkin init catkin config --extend /opt/ros/melodic catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release catkin config --merge-devel catkin build - MAVROS: binary installation - setup here
cd [path/to/ws]/catkin_ws/src
git clone https://github.com/catkin/catkin_simple.git
git clone https://github.com/ethz-asl/eigen_catkin.git
git clone https://github.com/ethz-asl/eigen_checks.git
git clone https://github.com/ethz-asl/nlopt.git
git clone https://github.com/ethz-asl/glog_catkin.git
git clone https://github.com/ethz-asl/mav_comm.git
git clone https://github.com/ethz-asl/yaml_cpp_catkin.git
git clone https://github.com/ethz-asl/mav_trajectory_generation.git
cd [path/to/ws]/catkin_ws
catkin build
cd [path/to/ws]/catkin_ws/src
git clone https://github.com/Jaeyoung-Lim/mavros_controllers.git
cd [path/to/ws]/catkin_ws
catkin build
2.3. congtranv/traj_gen
cd [path/to/ws]/catkin_ws/src
git clone https://github.com/congtranv/traj_gen.git
cd [path/to/ws]/catkin_ws
catkin build traj_gen
- Terminal 1: Launch px4 sitl simulation, rviz and geometric controller
roslaunch traj_gen simulation.launch gui:=true
gui:=true: enable gazebo simulation window
Wait to drone takeoff and run trajectory generation
- Terminal 2: Launch trajectory generation
roslaunch traj_gen traj_gen.launch [dimension] [input_middle] [nonlinear_opt]
Where:
dimension:=3 or 4: 3 for position and 4 for position and yaw at vertices (start or end)
input_middle:=true or false: true to use middle point from param input in launch file and false to use middle point from average of start and end points
nonlinear_opt:=true or false: true to use nonlinear optimization and false to use linear optimization
After drone finish trajectory, can change target point (end point) and middle point in launch file and relaunch (Start point is current position from odometry)
- Terminal 1: Launch mavros (connect onboard to drone) and geometric controller
roslaunch traj_gen mav_run.launch [fcu_url] [gcs_url]
fcu_url: link to pixhawk autopilot ("/dev/ttyTHS1:921600")
gcs_url: link to ground computer ("udp://:[email protected]:14555")
Wait nodes is run, use RC to ARM and switch OFFBOARD mode for takeoff. Then run trajectory generation
- Terminal 2: Launch trajectory generation
roslaunch traj_gen traj_gen.launch [dimension] [input_middle] [nonlinear_opt]
Where:
dimension:=3 or 4: 3 for position and 4 for position and yaw at vertices (start or end)
input_middle:=true or false: true to use middle point from param input in launch file and false to use middle point from average of start and end points
nonlinear_opt:=true or false: true to use nonlinear optimization and false to use linear optimization
After drone finish trajectory, can change target point (end point) and middle point in launch file and relaunch (Start point is current position from odometry)