MAVROS EXAMPLES

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Environment

OS: Ubuntu 20.04

ROS Version: Noetic

PX4 Version: v1.17.0-alpha1

Gazebo Version: 11.15.1

Python Version: >= 3.8

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Trajectory Examples

Basic Trajectories

These examples use position-only control with waypoint-based navigation:

• Circle: Circle - Circular trajectory with constant radius
• Rectangle: Rectangle - Rectangular trajectory with sharp corners
• Cylinder: Cylinder - Cylindrical spiral ascending trajectory
• Figure-8: Figure-8 - Figure-8 (infinity symbol) trajectory using Lissajous curves
• Helix: Helix - Helical spiral with adjustable radius (cylindrical/conical)

Wind-Resistant Trajectories

These examples use position + velocity feedforward control for improved tracking accuracy in windy conditions:

• Circle (Wind-Resistant): Circle Wind-Resist - Time-based circular trajectory with velocity feedforward
• Rectangle (Wind-Resistant): Rectangle Wind-Resist - Rectangular trajectory with velocity feedforward and dynamic yaw
• Cylinder (Wind-Resistant): Cylinder Wind-Resist - Time-based cylindrical spiral with velocity feedforward
• Figure-8 (Wind-Resistant): Figure-8 Wind-Resist - Time-based figure-8 trajectory with velocity feedforward
• Helix (Wind-Resistant): Helix Wind-Resist - Time-based helical spiral with velocity feedforward

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Key Differences

Feature	Basic Trajectories	Wind-Resistant Trajectories
Control Method	Position only	Position + Velocity
Topic	setpoint_position/local	setpoint_raw/local
Message Type	PoseStamped	PositionTarget
Trajectory Logic	Waypoint-based	Time-based continuous
Wind Performance	Moderate lag	Reduced lag, better tracking

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Quick Start

1. Build the workspace:

   catkin_make
   source devel/setup.bash

2. Launch a trajectory example:

   # Basic trajectory
   roslaunch src/circle/launch/circle.launch
   
   # Wind-resistant trajectory
   roslaunch src/circle_wind_resist/launch/circle_wind_resist.launch

3. The drone will automatically:

   • Connect to PX4 SITL
   • Switch to OFFBOARD mode
   • Arm and execute the trajectory

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Documentation

For detailed implementation information, please refer to:

• CLAUDE.md - Project architecture and development guidelines
• Individual trajectory README files linked above

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License

This project is for educational and research purposes.