ATMOS FleetMQ Integration Package

Dependencies

Make sure to have the following dependencies installed in your ROS2 workspace:

• px4_msgs from DISCOWER/px4_msgs
• px4_mpc from DISCOWER/px4-mpc
• ros_fmq_bridge privately hosted in DISCOWER/ros_fmq_bridge
• qpsolvers with the cvxopt option (for delay compensation control)

Running the Interface with Hardware

After building the workspace, you can run the interface using the following command:

ros2 launch atmos_fmq robot_launch.py namespace:=crackle remote_control:=<true|false> 

NOTE: As of now, only the crackle namespace is supported. The remote_control parameter can be set to true or false depending on whether you want to run the controller from the FMQ operator or locally. If set to false, a PX4-MPC instance will be launched to control the vehicle towards the prescribed setpoint in /{namespace}/px4_mpc/setpoint_pose.

WARNING: The remote_control:=true was not yet tested on hardware.

Running the Interface with Simulation

To run the interface in simulation, ensure that you are running the PX4 SITL simulation with crackle namespace. The remaining steps will be the same.

Running the experiments

Local Operator (Vehicle)

Run the bridge node

ros2 run ros_fmq_bridge bridge_node

Run the Docker file. From the package ros_fmq_bridge, within the folder docker, run (you may have to use sudo):

docker compose -f docker-compose-vehicle-linux-{name_of_the_robot}.yml up

where in place of {name_of_the_robot} you should put the name of the robot you are using. Check that the corresponding file is available in the docker folder. FLEETMQ WARNING: After the update, each device has its own docker file

Finally, launch the control feeder node

ros2 launch atmos_fmq multirobot_test_robot.launch.py namespaces:=pop

Remote operator

Run the Docker file. From the package ros_fmq_bridge, within the folder docker, run (you may have to use sudo):

docker compose -f docker-compose-operator-linux-{name_of_the_robot}.yml up

where in place of {name_of_the_robot} you should put the name of the robot you are using. Check that the corresponding file is available in the docker folder.

Launch the bridge

ros2 run ros_fmq_bridge bridge_node

Launch the controller

ros2 launch atmos_fmq multirobot_test_controller.launch.py namespaces:=pop