Simulating PX4 Flight Control with ROS/Gazebo Thomas Gubler
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Simulating PX4 Flight Control with ROS/Gazebo
Thomas Gubler
PX4 Flight Control
Onboard Messaging - uORB
DriversPX4 Flight Control
Onboard Messaging - uORB
Drivers
NuttX
Simulate what you fly
Simulate whole robot
Fly what you simulate(d)
PX4 Flight Control
Linux
ROS / Messaging
Gazebo PluginsMessaging Abstraction
Layer
PX4 Flight Control
Onboard Messaging - uORB
Drivers
Onboard Messaging - uORB
NuttX
Messaging Abstraction Layer
DriversPX4 Flight Control
Message Definition
uint64 timestamp
float32[19] channels
uint8 channel_count
...
ROS .msg format
Example:
Publisher<px4_rc_channels> rc_channels_pub;
px4_rc_channels rc_channels_msg;
// Fill message with data here
// Publish
_rc_channels_pub.publish(rc_channels_msg);
// Callback
void rc_channels_callback_function(const px4_rc_channels &msg) {
PX4_INFO("I heard: [%llu]", msg.data().timestamp);
}
// Subscribe
_n.subscribe<px4_rc_channels>(rc_channels_callback_function, 10);
Publish
Receive
Linux
ROS / Messaging
Gazebo PluginsMessage Layer
AbstractionROSNode
UDP
Mavros Mavlink Flight Control
PX4 Flight Control
Onboard Messaging - uORB
Drivers
Onboard Messaging - uORB
Drivers
NuttX
Message Layer Abstraction
Flight Control
serial
Mavlink
Linux
ROS / Messaging
Custom
ROS
Nodes Mavros
Future
Port all PX4 modules
Experiment with mobility
Robotic applications
Try it yourself: Tutorial on px4.io
px4.io
thomasgubler.com
Image Sources:
px4.io, gazebosim.org, ros.org, ASL ETHZ, Intel
Thanks to:
UAVentureCVG ETH ZurichASL ETH Zurich
PX4 Community
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