ROS2 interface for controlling thrust and attitude

ArduCopter Copter 4.6
1

Hi guys,

I am controlling a copter with ROS2 humble and I would like to ask how to send thrust + attitude cmd in guided and guided_noGPS modes.

I followed guides on Ardupilot webstite and SITM can run with ROS2 humble. However, ROS 2 Interfaces shows only ap/joy, ap/cmd_vel and ap/cmd_gps_pose are provided.

Unfortunately, it seems like none of them can enable me to send thrust + attitude commands. But I believe it should be possible, as there is already a function void AC_AttitudeControl::input_thrust_vector_heading(const Vector3f& thrust_vector, float heading_angle_cd, float heading_rate_cds), which is defined in ardupilot/libraries/AC_AttitudeControl /AC_AttitudeControl_Multi.cpp.

2

HI @robin_drone,

I think RyanF is probably best place to help here.

One thing I can add is we have the GUID_OPTIONS parameter that affects how mavlink SET_ATTITUDE_TARGET messages are interpreted (it changes whether the “thrust” field is interpreted as thrust or climb-rate. This may be unrelated though.

3

Thanks for the input. This isn’t yet supported. Please create an issue on Github, tag me me with the request (ryanf55) on Github, and we can work out a message definition suitable for the application. Once we have a suitable message chosen, it would be much appreciated if you wanted to contribute a feature for it.

Cheers!

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4

Thanks for your reply. Yes, that should be considered in ROS2 interface.

5

@rfriedman , thanks so much for your reply.

Yes, I am willing to help on this. Now, I am on holiday, let me create the request when I am back to work :).

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