rtabmap_drone_example

ROS2 2D navigation example of a drone using nav2 with px4 and rtabmap visual SLAM.

For the original ROS1 example with move_base and mavros, go on the master branch.

Overview video (click to watch on Youtube):

Install

Dev Container

Open project in VSCode and click "Reopen in container". The image will be automatically built.

Usage

The devcontainer should already have moved data from models and worlds folder into ~PX4-Autopilot/Tools/simulation/gz/models and ~PX4-Autopilot/Tools/simulation/gz/worlds respectively.

Launch the simulator with our world apt:

cd ~/PX4-Autopilot
make px4_sitl gz_x500_depth_apt

Launch ros2 bridge, VSLAM and nav2:

ros2 launch rtabmap_drone_example ros2_bridge.launch.py

Launch offboard mode (arm and take off):

ros2 run rtabmap_drone_example offboard_control --ros-args -p use_sim_time:=true

Flight logs will be saved in ~/PX4-Autopilot/build/px4_sitl_default/rootfs/log.

Control

• Autonomous control: use "2D Nav Goal" button in RVIZ to set a goal to reach
• Manual control: If a joystick is plugged, you can send twists by holding L1 and moving the joysticks. Hold L1+L2 with left joystick down to land (be gentle to land smoothly), then hold left joystick in bottom-left position to disarm after the drone is on the ground.