Homework 01 for the course ENAE788M: Hands-on Autonomous Aerial Robots (Spring 2023).

Using https://docs.px4.io/master/en/ros/mavros_offboard.html as reference, the code is modified to demonstrate the ModalAI VOXL drone beginning at (x: 0, y: 0, z: 10) and then follow the repeating pattern:

• Move forward 10 virtual meters
• Move up (heave) 15 virtual meters
• Move left 5 virtual meters
• Return to (0,0,10)

• PX4 jmavsim
• QGroundControl
• ROS Noetic (roscpp)
• MAVROS
• os
• pandas
• bagpy
• matplotlib

1. Open a terminal and clone the repository in the src directory of your ROS catkin workspace into a folder/package called offboard.

source /opt/ros/noetic/setup.bash
cd ~/catkin_ws/src
git clone https://github.com/adarshmalapaka/voxl_offboard.git offboard
cd ..
catkin_make 

2. To run the waypoint tracking demo:

   • Start the PX4 jmavsim simulator:

     cd /PX4-Autopilot
     make px4_sitl_default jmavsim
     

   • Launch QGroundControl by double clicking the QGroundControl.AppImage file.

   • Perform a take-off of the drone and wait until it reaches a height of 10m.

   • Open another terminal and run the following to launch the offboard node and save the bag data:

     source /opt/ros/noetic/setup.bash
     roslaunch offboard hw1.launch savedata:=true
     

     Note: After executing the above roslaunch command, change the mode in QGroundControl from either Hold/Position to Offboard.

3. To read the generated bag file and plot the corresponding commanded and actual trajectory of the drone:

   cd ~/catkin_ws/src/offboard/src
   python3 enae788m_plot.py
   

├─ CMakeLists.txt
├─ README.md
├─ bag
│  ├─ enae788m_hw1_VOXL1
│  │  ├─ mavros-local_position-pose.csv
│  │  └─ mavros-setpoint_raw-local.csv
│  └─ enae788m_hw1_VOXL1.bag                # Saved rosbag for /mavros/local_position/pose & /mavros/setpoint_raw/local
├─ launch
│  ├─ hw1.launch                            # Launch file to run enae788m_hw1.cpp and rosbag record 
│  ├─ record_data.launch
│  └─ total_launch.launch
├─ package.xml
└─ src
   ├─ enae788m_hw1.cpp                      # Code to perform waypoint tracking as given in HW1 
   ├─ enae788m_plot.py                      # Code to visualize recorded ROS topics using rosbag
   └─ offboard_example.cpp