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Example 1: Basic control of a drone in Gazebo using motion references

1. Launch gazebo

To launch the gazebo simulation, execute once the following command:

ros2 launch as2_gazebo_assets launch_simulation.py simulation_config_file:=world.yaml

2. Launch aerostack2 nodes

To launch aerostack2 nodes, execute once the following command:

  • Aerial platform:
ros2 launch as2_platform_gazebo platform_gazebo_launch.py namespace:=drone0 platform_config_file:=config.yaml simulation_config_file:=world.yaml
  • State estimator:
ros2 launch as2_state_estimator state_estimator_launch.py namespace:=drone0 config_file:=config.yaml
  • Motion controller:
ros2 launch as2_motion_controller controller_launch.py namespace:=drone0 config_file:=config.yaml

3. Move the drone

Take Off the drone

It can be done manually on the cli, but here you have a brief script to speed up:

./takeoff_drone.bash

Land the drone

It can be done manually on the cli, but here you have a brief script to speed up:

./land_drone.bash

Move the drone

Take a look at what control modes are available:

YAW_MODE Value
NONE 0
YAW_ANGLE 1
YAW_SPEED 2
CONTROL_MODE Value
UNSET 0
HOVER 1
POSITION 2
SPEED 3
SPEED_IN_A_PLANE 4
ATTITUDE 5
ACRO 6
TRAJECTORY 7
ACEL 8
REFERENCE_FRAME Value
UNDEFINED_FRAME 0
LOCAL_ENU_FRAME 1
BODY_FLU_FRAME 2
GLOBAL_LAT_LONG_ASML 3

Now, let's move to point [1.0, 0.0, 1.5]. Control mode at the controller is not set. You can set it by calling to controller service set_control_mode, setting the control to POSITION MODE:

ros2 service call /drone0/controller/set_control_mode as2_msgs/srv/SetControlMode "control_mode:
  header:
    stamp:
      sec: 0
      nanosec: 0
    frame_id: ''
  yaw_mode: 1
  control_mode: 2
  reference_frame: 1"

After setting the position control mode, you can send a new POSITION REFERENCE to the controller:

ros2 topic pub /drone0/motion_reference/pose geometry_msgs/msg/PoseStamped "header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: 'earth'
pose:
  position:
    x: 1.0
    y: 0.0
    z: 1.5
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0"

Try to do the same but using speed references. Set the control mode to SPEED MODE:

ros2 service call /drone0/controller/set_control_mode as2_msgs/srv/SetControlMode "control_mode:
  header:
    stamp:
      sec: 0
      nanosec: 0
    frame_id: ''
  yaw_mode: 2
  control_mode: 3
  reference_frame: 2"

And sending new SPEED REFERENCE to the controller:

ros2 topic pub /drone0/motion_reference/twist geometry_msgs/msg/TwistStamped "header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: 'drone0/base_link'
twist:
  linear:
    x: -0.5
    y: 0.0
    z: 0.0
  angular:
    x: 0.0
    y: 0.0
    z: 0.0" 
ros2 topic pub /drone0/motion_reference/twist geometry_msgs/msg/TwistStamped "header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: 'drone0/base_link'
twist:
  linear:
    x: 0.0
    y: 0.0
    z: 0.0
  angular:
    x: 0.0
    y: 0.0
    z: 0.0"

4. Move the drone using Python API

Take Off the drone

It can be done manually on the cli, but here you have a brief script to speed up:

./takeoff_drone.bash

Move the drone

Launch your mission using the AS2 Python API:

python3 mission.py

Land the drone

It can be done manually on the cli, but here you have a brief script to speed up:

./land_drone.bash