demo.md

Simulation Demo

This file provides the steps needed to run the demo. The steps shown in instructions/setup.md must be completed first.

WARNING: This demo is not safe for use on real hardware, the circle trajector generator may cause agressive and unpredictable behavior upon takeoff.

1. Start the simulation

Navigate to your PX4-Autopilot folder ande execute:

make px4_sitl gazebo-classic_iris

2. Run the MicroXRCEAgent

MicroXRCEAgent udp4 -p 8888

3. Launch the controller

# Source the workspace
source ~/llc_ws/install/setup.sh

# Start the simulation
ros2 launch px4_offboard_lowlevel iris_sitl.launch.py

4. Start flying

1. Run the circle trajector generator in a new terminal

# Source the workspace
source ~/llc_ws/install/setup.sh

# Start the trajectory generator
ros2 run px4_offboard_lowlevel circle_trajectory_node

2. Open QGroundControl, change to offboard mode, and arm the drone.

Change the control mode

By default the controller will be sending Attitude Setpoints:

• You can switch to Thrust + Torque setpoints mode by changing control_mode parameter:

ros2 param set /offboard_controller control_mode 2

• you can switch to Direct Actuator commands (throttles of the motors) by changing control_mode parameter:

ros2 param set /offboard_controller control_mode 3