Is there any way to contorl the gimbal in x500_gimbal

[brunocentanaro]

Hello, I could add x500_gimbal and now seeking help on how to move the gimbal for my needs. I noticed at the end of the file the plugins with the sub-topics for the joints but running gz topic -l I could not find these.

Thanks in advance!

[hamishwillee]

Perhaps @StefanoColli or @Jaeyoung-Lim can answer your question. Looking at the equivalent PX4 PR PX4/PX4-Autopilot#23382 I'd guess it isn't quite ready for use.

[brunocentanaro]

Actually I actually kind of got it working with that PR! This are the steps I followed:

• I applied that pr as a patch for my px4 installation
• I made the following changes in input_mavlink.cpp

-	if (set_attitude.origin_sysid == control_data.sysid_primary_control &&
-	    set_attitude.origin_compid == control_data.compid_primary_control) {
+	if (true) {

• and then running

import asyncio
from mavsdk import System

drone = System()

DELAY_FOR_CORRECTING_GIMBAL = 0.3

async def manual_control_drone(my_drone):
    while True:
        await asyncio.sleep(DELAY_FOR_CORRECTING_GIMBAL)
        async for attitude in drone.telemetry.attitude_euler():
            roll = attitude.roll_deg
            pitch = attitude.pitch_deg
            await my_drone.gimbal.set_angles(-roll, -pitch, -180)

async def run_drone():
    await drone.connect(system_address="udp://:14540")
    async for state in drone.core.connection_state():
        if state.is_connected:
            print(f"-- Connected to drone!")
            break
    # Checking if Global Position Estimate is ok
    async for health in drone.telemetry.health():
        if health.is_global_position_ok and health.is_home_position_ok:
            print("-- Global position state is good enough for flying.")
            break
    asyncio.ensure_future(manual_control_drone(drone))


async def run():
    await asyncio.gather(run_drone())

def main():
    asyncio.ensure_future(run())
    asyncio.get_event_loop().run_forever()

I got my gimbal stabilized. I could not have it working with ros topics/messages unfortunately so I don't think I can change the behaviour for the gimbal programatically but for my use case this is mostly fine.

[DronecodeBot]

This issue has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/how-to-control-the-gimbal-with-ros2-in-gazebo/40727/3

[StefanoColli]

Yes, as @hamishwillee mentioned you will be able to control the x500_gimbal only once this PR gets merged into PX4