State Machine Diagram

(diagram pending first run)

Description

Test state machine for the cl_px4_mr PX4 multirotor client library in Gazebo. Demonstrates the continuous pattern behaviors with timer-driven state exits: wait for readiness, arm, takeoff to 5m, cruise along the entry heading with sinusoidal altitude for 30 s (CbSineAltitudeCruise, ±1.5 m at 20 m wavelength — 3 sine cycles), hold position while sweeping the heading sinusoidally for 30 s (CbYawScan, ±0.6 rad at 6 s period — 5 sweep cycles), return to base, and land. Both pattern behaviors are continuous — they never post success; a 30 s CbTimerCountdownOnce in the second orthogonal (EvTimer) drives each transition, and each behavior restores its base reference (entry altitude / base heading) on exit.

Uses two orthogonals:

• OrPx4 - cl_px4_mr::ClPx4Mr client for all PX4 vehicle control
• OrTimer - cl_ros2_timer::ClRos2Timer for timed waits

Build Instructions

First, source your ROS 2 installation.

source /opt/ros/jazzy/setup.bash

Then build with colcon build…

colcon build --packages-select cl_px4_mr sm_cl_px4_mr_test_3

Operating Instructions

Requires four processes running simultaneously:

Terminal 1 - PX4 SITL:

cd ~/workspaces/PX4-Autopilot
make px4_sitl gz_x500

Terminal 2 - XRCE-DDS Agent:

ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 2>&1 | tee /tmp/xrce_agent.log

Terminal 3 - QGroundControl (required for GCS heartbeat so PX4 allows arming) Follow the installation instructions found here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

And then navigate to the appropriate directory and launch it from the terminal:

./QGroundControl-x86_64.AppImage

Terminal 4 - State Machine:

source install/setup.bash
ros2 launch sm_cl_px4_mr_test_3 sm_cl_px4_mr_test_3.launch.py

Mission Flow

Log File Locations

Viewer Instructions

If you have the SMACC2 Runtime Analyzer installed then type…

ros2 run smacc2_rta smacc2_rta

If you don’t have the SMACC2 Runtime Analyzer click here.