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Obstacle Avoidance using PX4 and AirSim with ROS

Integration of some algorithms with PX4 and AirSim for real-time collision-free and obstacle-free trajectories in bounded environment.

This repo is only tested in Ubuntu18.04 with ROS Melodic.

Dependences

AirSim 1.8.1

  • airsim_ros_pkgs is need as a ROS wrapper over the AirSim C++ client library.
  • Please follow this tutorial to build and use AirSim ROS wrapper.

PX4-Autopilot 1.13.0

  • Clone PX4-Autopilot

PX4-Avoidance

Fast-planner

Running in simulation

  1. Start AirSim environment

    1. Download AirSim linux build from here.
    2. Start environment.

  2. Start simulation

    1. roslaunch px4_avoidance_airsim start_simulation.launch
    2. Note: The local-planner in PX4-avoidance and fast-planner using different config file. Please select the right config file when you start simulation using roslaunch px4_avoidance_airsim start_simulation.launch.

  3. Launch planning algorithms

    1. Such as roslaunch px4_avoidance_airsim start_fast_planner.launch or roslaunch px4_avoidance_airsim start_px4_avoidance.launch

  4. Have fun

Speed up the mavros topics

Sometimes the communication between PX4 SITL and the AirSim is not fast enough. It leads to the very slow mavros topics, normally 4Hz for local_pose.

You can modify the MAVLINK data rate in ROMFS/px4fmu_common/init.d-posix/rcS Line 274 to mavlink start -x -u $udp_onboard_payload_port_local -r 4000000 -f -m onboard -o $udp_onboard_payload_port_remote (in v1.11.3 version). In latest v1.13, it should be at ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink Line 29.

UAV settings

MPC_XY_CRUISE 3m/s

MC_PITCHRATE_MAX 60 deg/s

MC_ROLLRATE_MAX 60 deg/s

MC_YAWRATE_MAX 60 deg/s

Change Fast-planner goal height

method 1:

in fast_planner/plan_manage/src/kino_replan_fsm.cpp

if (target_type_ == TARGET_TYPE::MANUAL_TARGET) {  
	end_pt_ << msg->poses[0].pose.position.x, msg->poses[0].pose.position.y, 1.0;
}

method 2:

in uav_simulator/Utils/waypoint_generator/src/waypoint_generator.cpp line 146

voidgoal_callback(constgeometry_msgs::PoseStamped::ConstPtr&msg)