#include <visp3/robot/vpRobotMavsdk.h>

Public Member Functions
	vpRobotMavsdk ()

	vpRobotMavsdk (const std::string &connection_info)

virtual	~vpRobotMavsdk ()

Robot connection
void	connect (const std::string &connection_info)

General robot information
float	getBatteryLevel () const

void	getPose (vpHomogeneousMatrix &pose) const

std::string	getAddress () const

Robot state checking
bool	isRunning () const

Sending state info
bool	sendMocapData (const vpHomogeneousMatrix &M)

Commands and parameters
bool	arm ()

void	doFlatTrim ()

void	holdPosition ()

bool	kill ()

bool	land ()

void	setForwardSpeed (double vx)

void	setLateralSpeed (double vy)

void	setPosition (float dX, float dY, float dZ, float dPsi)

void	setPosition (const vpHomogeneousMatrix &M)

void	setVelocity (const vpColVector &vel, double delta_t)

void	setVelocity (const vpColVector &vel)

void	setVerticalSpeed (double vz)

void	setYawSpeed (double wz)

void	stopMoving ()

void	setTakeOffAlt (double altitude)

bool	takeOff (bool interactive=true)

Detailed Description

Interface for Mavlink allowing to control drones or rovers using a MavLink compatible controller.

This class needs cxx17 or more recent standard enabled during ViSP cmake configuration.

This class is enabled when MavSDK C++ is installed and detected by ViSP during cmake configuration step.

Note: The body frame associated to the robot controlled through MavLink is supposed to be Front-Right-Down (FRD) respectively for X-Y-Z.

See also: Tutorial: Image-based visual-servoing on a drone equipped with a Pixhawk

Examples: sendMocapToPixhawk.cpp, servoPixhawkDroneIBVS.cpp, testPixhawkDroneKeyboard.cpp, testPixhawkDronePositionControl.cpp, testPixhawkDroneTakeoff.cpp, and testPixhawkDroneVelocityControl.cpp.

Definition at line 68 of file vpRobotMavsdk.h.

Constructor & Destructor Documentation

◆ vpRobotMavsdk() [1/2]

vpRobotMavsdk::vpRobotMavsdk ( )

Default constructor without parameters. You need to use the connect() function afterwards.

See also: connect()

Definition at line 747 of file vpRobotMavsdk.cpp.

◆ vpRobotMavsdk() [2/2]

vpRobotMavsdk::vpRobotMavsdk ( const std::string & connection_info )

Constructor.

Initializes robot controller, by discovering robots connected either with an Ethernet TCP or UDP link, or with a serial link the computer is currently connected to. Sets up signal handling to safely land/stop the robot when something wrong happens or when the user stops the binary using CRTL-C.

Warning: This constructor should be called after the robot is turned on, and after the computer is connected to the robot Ethernet network or with a serial link.; If the connection to the robot failed, the program will throw an exception.

After having called this constructor, it is recommended to check if the robot is running with isRunning() before sending commands to the robot.

Parameters

[in]

connection_info

: Specify connection information. This parameter must be written following these conventions:

for TCP link: tcp://[server_host][:server_port]
for UDP link: udp://[bind_host][:bind_port]
for Serial link: serial:///path/to/serial/dev[:baudrate] For more information see here.

Exceptions

vpException::fatalError : If the program failed to connect to the robot.

Definition at line 740 of file vpRobotMavsdk.cpp.

◆ ~vpRobotMavsdk()

vpRobotMavsdk::~vpRobotMavsdk ( )

virtual

Destructor. Lands the drone if not landed or stops the robot if it is a rover and safely disconnects everything.

Definition at line 753 of file vpRobotMavsdk.cpp.

Member Function Documentation

◆ arm()

bool vpRobotMavsdk::arm ( )

Arms the robot.

Returns: True if arming is successful, False otherwise.

Definition at line 822 of file vpRobotMavsdk.cpp.

◆ connect()

void vpRobotMavsdk::connect ( const std::string & connection_info )

Connects to the robot and setups the different controllers.

Parameters

[in]

connection_info

: The connection information given to connect to the robot. You may use:

for TCP link: tcp://[server_host][:server_port]
for UDP link: udp://[bind_host][:bind_port]
for Serial link: serial:///path/to/serial/dev[:baudrate]

Example: udp://192.168.30.111:14550.

For more information see here.

See also: getAddress()

Definition at line 768 of file vpRobotMavsdk.cpp.

◆ doFlatTrim()

void vpRobotMavsdk::doFlatTrim ( )

Sends a flat trim command to the robot, to calibrate accelerometer and gyro.

Warning: Should be executed only if the drone is landed and on a flat surface.

Definition at line 807 of file vpRobotMavsdk.cpp.

◆ getAddress()

std::string vpRobotMavsdk::getAddress ( ) const

Gives the address given to connect to the robot.

Returns: : A string corresponding to the Ethernet or serial address used for the connection to the robot.

See also: connect()

Definition at line 788 of file vpRobotMavsdk.cpp.

◆ getBatteryLevel()

float vpRobotMavsdk::getBatteryLevel ( ) const

Gets current battery level in Volts.

Warning: When the robot battery gets below a certain threshold (around 14.8), you should recharge it.

Definition at line 794 of file vpRobotMavsdk.cpp.

◆ getPose()

void vpRobotMavsdk::getPose ( vpHomogeneousMatrix & Pose ) const

Gets the current robot pose in its local NED frame.

Parameters

[in] Pose : Homogeneous matrix describing the position and attitude of the robot.

Definition at line 800 of file vpRobotMavsdk.cpp.

◆ holdPosition()

void vpRobotMavsdk::holdPosition ( )

Makes the robot hold its position.

Warning: The function simply switches to Hold mode when the robot is equipped with a GPS. it can function without a GPS, but it still preferable to use it outdoors.

Definition at line 838 of file vpRobotMavsdk.cpp.

◆ isRunning()

bool vpRobotMavsdk::isRunning ( ) const

Checks if the robot is running, ie if the robot is connected and ready to receive commands.

Examples: testPixhawkDroneKeyboard.cpp.

Definition at line 773 of file vpRobotMavsdk.cpp.

◆ kill()

bool vpRobotMavsdk::kill ( )

Cuts the motors. Should only be used in emergency cases.

Returns: True if the cut motors command was successful, false otherwise.

Warning: If your robot is a drone, it will fall.

Examples: testPixhawkDroneKeyboard.cpp.

Definition at line 909 of file vpRobotMavsdk.cpp.

◆ land()

bool vpRobotMavsdk::land ( )

Sends landing command. To use if your robot is a drone.

Returns: True if the landing is successful, false otherwise.

See also: takeOff()

Examples: testPixhawkDroneKeyboard.cpp.

Definition at line 852 of file vpRobotMavsdk.cpp.

◆ sendMocapData()

bool vpRobotMavsdk::sendMocapData ( const vpHomogeneousMatrix & M )

Sends MoCap position data to the robot.

Returns: True if the MoCap data was successfully sent to the robot, false otherwise.

Parameters

[in] M : Homogeneous matrix containing the pose of the robot for the MoCap system.

Definition at line 780 of file vpRobotMavsdk.cpp.

◆ setForwardSpeed()

void vpRobotMavsdk::setForwardSpeed ( double vx )

Sets the forward speed, expressed in m/s , in the Front-Right-Down body frame.

Warning: The robot will not stop moving in that direction until you send another motion command.

Parameters

[in]

vx

: Desired forward speed in m/s.

Positive values will make the robot go forward
Negative values will make the robot go backwards

Examples: testPixhawkDroneKeyboard.cpp.

Definition at line 931 of file vpRobotMavsdk.cpp.

◆ setLateralSpeed()

void vpRobotMavsdk::setLateralSpeed ( double vy )

Sets the lateral speed, expressed in m/s, in the Front-Right-Down body frame.

Warning: The robot will not stop moving in that direction until you send another motion command.

Parameters

[in]

vy

: desired lateral speed in m/s.

Positive values will make the robot go right
Negative values will make the robot go left

Examples: testPixhawkDroneKeyboard.cpp.

Definition at line 942 of file vpRobotMavsdk.cpp.

◆ setPosition() [1/2]

void vpRobotMavsdk::setPosition ( const vpHomogeneousMatrix & M )

Changes the relative position of the robot based on a homogeneous transformation matrix.

Parameters

[in] M : Homogeneous matrix with translation be expressed in meters and rotation in radians.

Warning: The rotation around the X and Y axes should be equal to 0, as the robot (drone or rover) cannot rotate around these axes.; This function is blocking.

See also: setPosition(float dX, float dY, float dZ, float dPsi, bool blocking)

Definition at line 879 of file vpRobotMavsdk.cpp.

◆ setPosition() [2/2]

void vpRobotMavsdk::setPosition	(	float	dX,
		float	dY,
		float	dZ,
		float	dPsi
	)

Moves the robot by the given amounts dX, dY, dZ (meters) and rotate the heading by dPsi (radian) in the Front-Right-Down (FRD) body frame. Doesn't do anything if the drone isn't flying or hovering. This function is blocking.

Parameters

[in]	dX	: Relative displacement along X axis (meters).
[in]	dY	: Relative displacement along Y axis (meters).
[in]	dZ	: Relative displacement along Z axis (meters).
[in]	dPsi	: Relative rotation of the heading (radians).

See also: setPosition(const vpHomogeneousMatrix &M, bool blocking)

Definition at line 866 of file vpRobotMavsdk.cpp.

◆ setTakeOffAlt()

void vpRobotMavsdk::setTakeOffAlt ( double altitude )

Sets the take off altitude.

Parameters

[in] altitude : Desired altitude for take off in meters, equal to 1.0 m by default.

Warning: The altitude must be positive.

See also: takeOff()

Definition at line 816 of file vpRobotMavsdk.cpp.

◆ setVelocity() [1/2]

void vpRobotMavsdk::setVelocity ( const vpColVector & vel_cmd )

Sets the robot velocity in its own Front-Right-Down (FRD) frame.

Parameters

[in] vel_cmd : 4-dim robot velocity commands, vx, vy, vz, wz. Translation velocities (vx, vy, vz) should be expressed in meters and rotation velocity (wz) in radians.

Warning: The dimension of the velocity vector should be equal to 4, as the robot cannot rotate around X and Y axes.; The robot applies this command until given another one.

Definition at line 902 of file vpRobotMavsdk.cpp.

◆ setVelocity() [2/2]

void vpRobotMavsdk::setVelocity	(	const vpColVector &	vel_cmd,
		double	delta_t
	)

Sets the robot velocity in its own Front-Right-Down (FRD) frame for a duration delta_t. The robot stops afterwards.

Parameters

[in]	vel_cmd	: 4-dim robot velocity commands, vx, vy, vz, wz. Translation velocities (vx, vy, vz) should be expressed in meters and rotation velocity (wz) in radians.
[in]	delta_t	: Sampling time (in seconds), time during which the velocity `vel_cmd` is applied.

Warning: The dimension of the velocity vector should be equal to 4, as the robot cannot rotate around X and Y axes.

Definition at line 891 of file vpRobotMavsdk.cpp.

◆ setVerticalSpeed()

void vpRobotMavsdk::setVerticalSpeed ( double vz )

Sets the vertical speed, expressed in m/s, in the Front-Right-Down body frame.

Warning: The robot will not stop moving in that direction until you send another motion command.

Parameters

[in]

vz

: desired vertical speed in m/s.

Positive values will make the robot go down.
Negative values will make the robot go up.

Examples: testPixhawkDroneKeyboard.cpp.

Definition at line 953 of file vpRobotMavsdk.cpp.

◆ setYawSpeed()

void vpRobotMavsdk::setYawSpeed ( double wz )

Sets the yaw speed, expressed as signed rotation speed.

Warning: The robot will not stop moving in that direction until you send another motion command.

Parameters

[in] wz : Desired yaw speed in rad/s. Positive values will make the robot turn to its right / clockwise Negative values will make the robot turn to its left / counterclockwise

Examples: testPixhawkDroneKeyboard.cpp.

Definition at line 920 of file vpRobotMavsdk.cpp.

◆ stopMoving()

void vpRobotMavsdk::stopMoving ( )

Stops any robot movement.

Warning: Depending on the speed of the robot when the function is called, the robot may still move a bit until it stabilizes.

Examples: testPixhawkDroneKeyboard.cpp.

Definition at line 845 of file vpRobotMavsdk.cpp.

◆ takeOff()

bool vpRobotMavsdk::takeOff ( bool interactive = true )

Sends take off command. To use if your robot is a drone.

Parameters

[in] interactive : If True asks the user if the offboard mode is to be forced through the terminal. If false Offboard mode is automatically set.

Returns: True if the takeoff is successful, False otherwise

See also: setTakeOffAlt(), land()

Warning: This function is blocking.

Examples: testPixhawkDroneKeyboard.cpp.

Definition at line 831 of file vpRobotMavsdk.cpp.

Public Member Functions

Commands and parameters

Detailed Description

Constructor & Destructor Documentation

◆ vpRobotMavsdk() [1/2]

◆ vpRobotMavsdk() [2/2]

◆ ~vpRobotMavsdk()

Member Function Documentation

◆ arm()

◆ connect()

◆ doFlatTrim()

◆ getAddress()

◆ getBatteryLevel()

◆ getPose()

◆ holdPosition()

◆ isRunning()

◆ kill()

◆ land()

◆ sendMocapData()

◆ setForwardSpeed()

◆ setLateralSpeed()

◆ setPosition() [1/2]

◆ setPosition() [2/2]

◆ setTakeOffAlt()

◆ setVelocity() [1/2]

◆ setVelocity() [2/2]

◆ setVerticalSpeed()

◆ setYawSpeed()

◆ stopMoving()

◆ takeOff()