Repository to operate PX4 based hexacopter using as externel refernce Position from Optitrack

• Motive
• ROS melodic
• Mavros
• Vrpn client
• PX4 device

This project consider that PX4 is correctly seted up followring the next links.

• https://docs.px4.io/master/en/ros/external_position_estimation.html
• https://risc.readthedocs.io/1-indoor-flight.html

It considers that Motive is calibrated and computers are on the me network with differents IP addresses.

On Motive:

• Creates a Rigid Body on motive and name it (this name will be used).
• Stream the position over VRPN using the up axis as Y.

On ROS:

# Clone this workspace on ROS

git clone 

install mavros and vrpn

sudo apt install ros-melodic-mavros ros-melodic-mavros-extras

sudo apt install ros-melodic-vrpn-client-ros 

On the file /src/conversion_coordinates/scripts/conversion_mocap.py found the line sub_pose = rospy.Subscriber("/vrpn_client_node/arana/pose", PoseStamped, self.pose_mocap_callback) and replace the name arana with the name of your rigid body.

Build workspace with

catkin_make

Add the setup.bash file to .bashrc. Open with gedit .bashrc using in home route

gedit .bashrc

and add the line

source ~/quadcoter_ws/devel/setup.bash

To launch, first make sure you have connected the pixhawk via USB, and is connected as /dev/ttyACM0.

Secondly, type the next line and replace the ip, with the ip adress of the Motive computer that is stremming over VRPN.

 roslaunch control_drone launch_vrpn.launch server:=192.168.11.2:3883

After this command everthing is ready to do position control fight mode using optitrack

To Test run the script:

 rosrun control_drone control_drone_node

To run this script the drone should be put first in postion mode, and the program will put PX4 on Offboard mode, this mode could be dangerous so preferently use a RC tranmitter to change the mode to Manual if is needed.