# tracking_controller

**Repository Path**: nameiscs/tracking_controller

## Basic Information

- **Project Name**: tracking_controller
- **Description**: fork https://github.com/Zhefan-Xu/tracking_controller.git并适配px4ctrl
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-03-23
- **Last Updated**: 2025-03-23

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Trajectory Tracking Controller for Autonomous Robots
This pakcage implements a PID-based trajectory tracking controller for PX4-based autonomous robots.

**Author**: [Zhefan Xu](https://zhefanxu.com/), Computational Engineering & Robotics Lab (CERLAB) at Carnegie Mellon University (CMU).

If you find this work helpful, kindly show your support by giving us a free ⭐️. Your recognition is truly valued.

This repo can be used as a standalone package and also comes as a module of our [autonomy framework](https://github.com/Zhefan-Xu/CERLAB-UAV-Autonomy).

## I. Installation Guide
This repo has been tested on ROS Melodic with Ubuntu 18.04 and ROS Noetic with Ubuntu 20.04 and it depends on [mavros](http://wiki.ros.org/mavros) ROS package. Use the following commands for installtion:
```
# install dependency
sudo apt install ros-[melodic/noetic]-mavros* # mavros

cd ~/catkin_ws/src
git clone https://github.com/Zhefan-Xu/tracking_controller.git

cd ~/catkin_ws
catkin_make
```

## II. Run Controller DEMO
For tracking a circular trajectory, please run the following commands. Note that the tracking circle function is a part of [autonomous_flight](https://github.com/Zhefan-Xu/autonomous_flight) package and please install it before running. Also, for simulator, you can either use the original PX4 simulator or use our PX4-based [uav_simulator](https://github.com/Zhefan-Xu/uav_simulator) package:
```
# start PX4 simulator
roslaunch uav_simulator px4_start.launch 

# launch the tracking node function with the tracking controller
roslaunch autonomous_flight takeoff_and_track_circle.launch
```
The example results of running the above command can be visulized as below:

https://github.com/Zhefan-Xu/tracking_controller/assets/55560905/5a83ede2-a8a2-4c7a-a5f4-3dd3304e9ad0

## III. Controller Structure
The implemented controller follows the structure shown below:

<img width="1410" alt="controller_diagram" src="https://github.com/Zhefan-Xu/tracking_controller/assets/55560905/b3a68c70-fb1a-4ec2-be29-3cb769670490">

The related paper can be found on:

**Dario Brescianini, Markus Hehn, Raffaello D'Andrea, Nonlinear Quadrocopter Attitude Control, ETH Zurich, 2013.** [\[paper\]](https://nrotella.github.io/assets/pdf/px4_attitude_control.pdf)  


## IV. Parameters
The controller parameters can be edited and modified in ```tracking_controller/cfg/controller_param.yaml```. 

## V. ROS Topics
Here lists some important ROS topics related to the controller:
  - Subscribing Topics:
    - ```/mavros/local_position/odom```: The robot odometry.
    - ```/mavros/imu/data```: The robot IMU data.
    - ```/autonomous_flight/target_state```: The desired target states.

  - Publishing Topics:
    - ```/mavros/setpoint_raw/attitude```: The command to the PX4 flight controller.
    - ```/mavros/setpoint_raw/local```: The command to the PX4 flight controller.
    - ```/tracking_controller/robot_pose```: The robot current pose.
    - ```/tracking_controller/trajectory_history```: The robot historic trajectory.
    - ```/tracking_controller/target_pose```: The target current pose.
    - ```/tracking_controller/target_trajectory_history```: The target historic trajectory.
    - ```/tracking_controller/vel_and_acc_info```: The robot state information.