px4-mpc

This package contains an MPC integrated with with PX4 Autopilot and ROS 2.

The MPC uses the acados framework

Setup

The MPC formulation uses acados. In order to install acados, follow the following instructions To build the code, clone the following repositories into a ros2 workspace Dependencies

• px4_msgs
• px4-offboard (Optional): Used for RViz visualization

colcon build --packages-up-to px4_mpc

Testing demos

ros2 run px4_mpc quadrotor_demo

Running MPC with PX4 SITL

In order to run the SITL(Software-In-The-Loop) simulation, the PX4 simulation environment and ROS2 needs to be setup. For instructions, follow the documentation

Run PX4 SITL

make px4_sitl gazebo

Run the micro-ros-agent

micro-ros-agent udp4 --port 8888

In order to launch the mpc quadrotor in a ros2 launchfile,

ros2 launch px4_mpc mpc_quadrotor_launch.py 

The mpc_spacecraft_launch.py file includes optional arguments:

• mode: Control mode (wrench by default). Options: wrench, rate, direct_allocation.
• namespace: Spacecraft namespace ('' by default).
• setpoint_from_rviz: Use RViz for setpoints (True by default).

Example:

ros2 launch px4_mpc mpc_spacecraft_launch.py mode:=wrench namespace:=<namespace> setpoint_from_rviz:=False