Hello everyone, I have this configuration:
- Pixracer R15
- Arducopter 4.2.3
- ROS noetic with mavros package and mocap_optitrack installed
I am able to fly the drone using Optitrack Motion Capture system, ROS installed and the software Motive to create rigid bodies associated with real markers.
Now I would like to create a rectangular fence using Optitrack positions as limits, one for each
side of the polygon. Let’s say 4 for semplicity.
I want to control the drone using my transmitter with its RC channels,
but in this fence and in the case of breaching the limits I want to switch to Loiter Mode.
I read about polygon fences and I saw that this can be made using
Ground Control Stations such as MissionPlanner and QGroundControl.
I want to do that using ROS and the package mavros!
Do you know how can I do that?
Do i need to use the topic /mavros/geofence/waypoints?
Is there any mavros service like mavwp to load waypoints but for polygon fences?
Is there any mavros plugin needed to include in the whitelist that is in apm_pluginlists.yaml (mavros package)?
Thank you in advance.