Will AAS support the PX4 ROS 2 Interface Library?

[k1095118808]

I prefer to develop using the PX4 ROS 2 Interface Library because of its convenience and useful state machine (compared to offboard mode). Will this project consider adding support for this mode?

[JacopoPan]

Hello @k1095118808

If you want to add: https://github.com/Auterion/px4-ros2-interface-lib to the AAS Docker aircraft-image, all you need to do is to add this line

RUN git clone -b release/1.16 --recursive https://github.com/Auterion/px4-ros2-interface-lib

just before RUN rosdep update, here

aerial-autonomy-stack/scripts/docker/Dockerfile.aircraft

Lines 203 to 206 in 032f58e

	COPY aircraft/aircraft_ws/src /aas/aircraft_ws/src
	WORKDIR /aas/aircraft_ws
	RUN rosdep update
	RUN rosdep install --from-paths src/ --ignore-src --rosdistro humble -y --skip-keys "px4_msgs"

Also note that there is a ROS2-action based interface for PX4 high-level commands (Takeoff, Landing, Orbit, Reposition) here

aerial-autonomy-stack/aircraft/aircraft_ws/src/autopilot_interface/src/px4_interface.hpp

Lines 1 to 23 in 032f58e

	/* autopilot_interface CLI
	# Takeoff and Land actions (quad parameters examples)
	python3 /aas/aircraft_resources/patches/cancellable_action.py "ros2 action send_goal /Drone${DRONE_ID}/takeoff_action autopilot_interface_msgs/action/Takeoff '{takeoff_altitude: 40.0}'"
	python3 /aas/aircraft_resources/patches/cancellable_action.py "ros2 action send_goal /Drone${DRONE_ID}/land_action autopilot_interface_msgs/action/Land '{landing_altitude: 60.0}'"
	# Takeoff and Land actions (VTOL parameters example)
	python3 /aas/aircraft_resources/patches/cancellable_action.py "ros2 action send_goal /Drone${DRONE_ID}/takeoff_action autopilot_interface_msgs/action/Takeoff '{takeoff_altitude: 40.0, vtol_transition_heading: 330.0, vtol_loiter_nord: 200.0, vtol_loiter_east: 100.0, vtol_loiter_alt: 120.0}'"
	python3 /aas/aircraft_resources/patches/cancellable_action.py "ros2 action send_goal /Drone${DRONE_ID}/land_action autopilot_interface_msgs/action/Land '{landing_altitude: 60.0, vtol_transition_heading: 60.0}'"
	# Orbit and Offboard (refs: attitude = 0, rates = 1, trajectory = 2) actions
	python3 /aas/aircraft_resources/patches/cancellable_action.py "ros2 action send_goal /Drone${DRONE_ID}/orbit_action autopilot_interface_msgs/action/Orbit '{east: 500.0, north: 0.0, altitude: 150.0, radius: 200.0}'"
	python3 /aas/aircraft_resources/patches/cancellable_action.py "ros2 action send_goal /Drone${DRONE_ID}/offboard_action autopilot_interface_msgs/action/Offboard '{offboard_setpoint_type: 1, max_duration_sec: 2.0}'"
	# SetSpeed (always limited by the autopilot params, for quads applies from the next command) and SetReposition (quad only) services
	ros2 service call /Drone${DRONE_ID}/set_speed autopilot_interface_msgs/srv/SetSpeed '{speed: 15.0}'
	ros2 service call /Drone${DRONE_ID}/set_reposition autopilot_interface_msgs/srv/SetReposition '{east: 100.0, north: 200.0, altitude: 60.0}' # relative to Home
	*/

Hope this helps!

If you want to contribute an example leveraging px4-ros2-interface-lib, please feel free to do so via PR