Precision Landing with ROS2, PX4, and Pose Messages

This project demonstrates autonomous precision landing of a drone using Pose Messages, leveraging ROS2 and PX4. It provides vision-based target search, approach, and landing with configurable controllers, NED transformations, and spiral waypoint generation for robust target acquisition.

🚀 Features

• Vision-Based Target Detection: Use of ArUco markers for precise landing target identification.
• Autonomous Landing: Integration with ROS2 and PX4 for autonomous marker-based landing.
• Configurable Controllers: Adjustable PID controllers for fine landing control.
• Spiral Waypoints: Generates spiral waypoints for safe target approach.
• NED Transformations: Converts between local and global coordinate systems for precise navigation.

📦 Prerequisites

• PX4 Autopilot: Installed and configured on the drone.
• ROS2 Foxy Fitzroy or later: For communication and control.
• Git: For cloning the repository and managing submodules.

🔧 Installation

1. Setup Enviroment

For detailed setup instructions, refer to the following resources:

• PX4 ROS2 User Guide
• QGroundControl Daily Builds
• ros_gz Bridge

2. Clone the Repository

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/SpaceMaster85/precision_landing.git
cd precision_landing

3. Build the Workspace

cd ~/ros2_ws
colcon build --symlink-install
source install/setup.bash

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🚀 Usage

1. Launch PX4 Simulation

Launch PX4 Simulation

make px4_sitl gz_x500_mono_cam_down_aruco

Launch MicroXRCEAgent

micro-xrce-dds-agent udp4 -p 8888

Launch the ros_gz_bridge to bridge the camera image topic from Gazebo to ROS2

ros2 run ros_gz_bridge parameter_bridge /world/aruco/model/x500_mono_cam_down_0/link/camera_link/sensor/imager/image@sensor_msgs/msg/Image@gz.msgs.Image

Launch the ros_gz_bridge to bridge the camera info topic from Gazebo to ROS2 (this is how we get camera intrinsics)

ros2 run ros_gz_bridge parameter_bridge /world/aruco/model/x500_mono_cam_down_0/link/camera_link/sensor/imager/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo

2. Start ROS2 Node

ros2 run precision_landing landing_node

3. Provide Pose Messages

Ensure that the Pose Messages are provided to the ROS topic /target_pose I recommend to use ARUCO markers. See https://github.com/SpaceMaster85/aruco_id_checker and https://github.com/namo-robotics/aruco_markers

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🧪 Testing

Use the provided launch files to test the system with simulated data.

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📄 License

This project is licensed under the BSD-3-Clause License.

Thank you

https://github.com/ARK-Electronics/tracktor-beam