Controller Server

An action server for nav_drone_msg::action::FollowPath. Typically called by the nav_drone_bt_navigator FollowPath action from this repository. Implements a plugin interface for the nav_drone_core::controller class. It also contains progress checkers and goal checker plugins to abstract out that logic from specific controller implementations.

Dependencies

• Only the dependencies listed in the CMakeLists.txt

Testing

Whilst running a simulator of your choice, run:

• Drone node to publish odometry
• Publish a suitible tf2 tree - See teh Drone node documentation
• Run an Octomap server to publish an octomap
• Something to pupulate the Ocotomap server, either by loading a file or publishing a pointcloud
• A controller plugin. In this case we use the Regulated Pure Pursuit controller from this repository

After issuing a takeoff command, run this in a seperate terminal. If all goes well, the drone should move along the path.

ros2 action send_goal nav_drone/follow_path "nav_drone_msgs/action/FollowPath" '{controller_id: RegulatedPurePursuitController, goal_checker_id: SimpleGoalChecker, path: {header: {frame_id: 'map'}, poses: [{pose: {position: {x: 0,y: 0,z: 2}, orientation: {x: 0, y: 0, z: 0, w: 1}}, header: {frame_id: 'map'}}, {pose: {position: {x: 8,y: 5,z: 2}, orientation: {x: 0, y: 0, z: 0, w: 1}}, header: {frame_id: 'map'}}]}}'

Code Status

This code is under testing as from 09 Sept 2022, 13 February 2023.