Add rviz pos plugin for commanding target position (DISCOWER#9)

* Add target pos plugin

* Tune MPC

* Put initial setpoint in the air

* Update readme to include gif

README.md

@@ -1,6 +1,8 @@
 # px4-mpc
 This package contains an MPC using the casadi integrated with with PX4
 
+![mpc_setpoint](https://github.com/Jaeyoung-Lim/px4-mpc/assets/5248102/35dae5bf-626e-4272-a552-5f5d7e3c04cd)
+
 ## Setup
 To build the code, clone this repository into a ros2 workspace
 Dependencies
@@ -32,5 +34,5 @@ micro-ros-agent udp4 --port 8888
 
 In order to launch the mpc quadrotor in a ros2 launchfile,
 ```
-ros2 launch px4_mpc mpc_quadrotor.launch.py 
+ros2 launch px4_mpc mpc_quadrotor_launch.py 
 ```

mpc_msgs/CMakeLists.txt

@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 3.8)
+project(mpc_msgs)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/SetPose.srv"
+  DEPENDENCIES geometry_msgs
+ )
+# ament_target_dependencies(${PROJECT_NAME} geometry_msgs)
+rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

mpc_msgs/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>mpc_msgs</name>
+  <version>0.0.0</version>
+  <description>Custom messages for the px4-mpc package</description>
+  <maintainer email="[email protected]">jaeyoung</maintainer>
+  <license>BSD-3</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <depend>geometry_msgs</depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

mpc_msgs/srv/SetPose.srv

@@ -0,0 +1,3 @@
+geometry_msgs/Pose pose
+---
+bool result

package.xml → px4_mpc/package.xml

@@ -9,6 +9,8 @@
   <license>BSD-3</license>
 
   <depend>px4_msgs</depend>
+  <depend>mpc_msgs</depend>
+  <depend>px4_offboard</depend>
   <exec_depend>ros2launch</exec_depend>
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

px4_mpc/px4_mpc/config/config.rviz

@@ -0,0 +1,245 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Pose1
+        - /Marker1
+        - /Marker1/Topic1
+        - /Path1
+        - /Path2
+        - /InteractiveMarkers1
+        - /Marker2
+        - /Marker2/Topic1
+      Splitter Ratio: 0.5
+    Tree Height: 907
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.10000000149011612
+      Class: rviz_default_plugins/Pose
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.30000001192092896
+      Head Radius: 0.10000000149011612
+      Name: Pose
+      Shaft Length: 1
+      Shaft Radius: 0.05000000074505806
+      Shape: Axes
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /px4_visualizer/vehicle_pose
+      Value: true
+    - Class: rviz_default_plugins/Marker
+      Enabled: true
+      Name: Marker
+      Namespaces:
+        arrow: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /px4_visualizer/vehicle_velocity
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz_default_plugins/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /px4_visualizer/vehicle_path
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz_default_plugins/Path
+      Color: 25; 0; 255
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /px4_mpc/predicted_path
+      Value: true
+    - Class: rviz_default_plugins/InteractiveMarkers
+      Enable Transparency: true
+      Enabled: true
+      Interactive Markers Namespace: /px4_mpc/rviz_target_pose_marker
+      Name: InteractiveMarkers
+      Show Axes: false
+      Show Descriptions: true
+      Show Visual Aids: false
+      Value: true
+    - Class: rviz_default_plugins/Marker
+      Enabled: true
+      Name: Marker
+      Namespaces:
+        arrow: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /px4_mpc/reference
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 255; 255; 255
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 13.942571640014648
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.630398154258728
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.7203983068466187
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: true
+  Height: 1136
+  Hide Left Dock: true
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000028e00000416fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d00000416000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000039c0000041600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 924
+  X: 74
+  Y: 27

px4_mpc/controllers/multirotor_rate_mpc.py → px4_mpc/px4_mpc/controllers/multirotor_rate_mpc.py

@@ -66,9 +66,9 @@ def setup(self, x0, N_horizon, Tf):
         ocp.dims.N = N_horizon
 
         # set cost
-        Q_mat = 2*np.diag([1e1, 1e1, 1e1, 5e-2, 5e-2, 5e-2, 0.0, 0.1, 0.1, 0.1])
-        Q_e = 2*np.diag([1e3, 1e3, 1e3, 1e1, 1e1, 1e1, 0.0, 0.0, 0.0, 0.0])
-        R_mat = 2*np.diag([1e-1, 5e-2, 5e-2, 5e-2])
+        Q_mat = 2*np.diag([1e1, 1e1, 1e1, 1e1, 1e1, 1e1, 0.0, 0.1, 0.1, 0.1])
+        Q_e = 2*np.diag([3e2, 3e2, 3e2, 1e2, 1e2, 1e2, 0.0, 0.0, 0.0, 0.0])
+        R_mat = 2*np.diag([1e1, 5e2, 5e2, 5e2])
 
         # TODO: How do you add terminal costs?
 
@@ -82,13 +82,13 @@ def setup(self, x0, N_horizon, Tf):
         ocp.cost.cost_type = 'NONLINEAR_LS'
         ocp.cost.cost_type_e = 'NONLINEAR_LS'
         ocp.cost.W = scipy.linalg.block_diag(Q_mat, R_mat)
-        ocp.cost.W_e = Q_mat
+        ocp.cost.W_e = scipy.linalg.block_diag(Q_e)
 
 
         ocp.model.cost_y_expr = cs.vertcat(model.x, model.u)
         ocp.model.cost_y_expr_e = model.x
-        ocp.cost.yref  = np.array([0.0, 0.0, 5.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
-        ocp.cost.yref_e = np.array([0.0, 0.0, 5.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0])
+        ocp.cost.yref  = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
+        ocp.cost.yref_e = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0])
 
         # set constraints
         ocp.constraints.lbu = np.array([0.0, -wmax, -wmax, -0.5*wmax])
@@ -151,4 +151,4 @@ def solve(self, x0, verbose=False):
             simU[i,:] = self.ocp_solver.get(i, "u")
         simX[N,:] = self.ocp_solver.get(N, "x")
 
-        return simU, simX
+        return simU, simX

launch/mpc_quadrotor.launch.py → px4_mpc/px4_mpc/launch/mpc_quadrotor_launch.py

@@ -51,6 +51,14 @@ def generate_launch_description():
             output='screen',
             emulate_tty=True,
         ),
+        Node(
+            package='px4_mpc',
+            namespace='px4_mpc',
+            executable='rviz_pos_marker',
+            name='rviz_pos_marker',
+            output='screen',
+            emulate_tty=True,
+        ),
         # Node(
         #     package='micro_ros_agent',
         #     executable='micro_ros_agent',
@@ -68,6 +76,6 @@ def generate_launch_description():
             namespace='',
             executable='rviz2',
             name='rviz2',
-            arguments=['-d', [os.path.join(get_package_share_directory('px4_offboard'), 'visualize.rviz')]]
+            arguments=['-d', [os.path.join(get_package_share_directory('px4_mpc'), 'config.rviz')]]
         )
     ])