Additions/quick modifications

.devcontainer/nvidia/devcontainer.json

@@ -1,5 +1,5 @@
 {
-    "name": "px4_roscon_25_wsl",
+    "name": "px4_roscon_25_nvidia",
     "image": "dronecode/roscon-25-workshop:latest",
     "forwardPorts": [8765],
     "containerEnv": {

docs/setup.md

@@ -250,7 +250,7 @@ INFO  [commander] Ready for takeoff!
 
 This is all you need to do to start the GZ + PX4 simulation, you can now takeoff!
 
-## Next step (otional) - Link the simulation to ROS 2
+## Next step (optional) - Link the simulation to ROS 2
 
 With the simulation up an running, it is time to bridge ROS 2 with Gazebo and PX4.
 

px4_roscon_25/precision_land_executor/CustomMode_v2.cpp

@@ -27,13 +27,11 @@ void CustomWaypoints::loadParameters() {
 
 void CustomWaypoints::onActivate() {
     // Initialize waypoints
-    _trajectory_waypoints.push_back(Eigen::Vector3f(5.0f, 0.0f, -2.0f)); // Initial waypoint at home position
-    _trajectory_waypoints.push_back(Eigen::Vector3f(5.0f, 5.0f, -2.0f)); // Second waypoint
-    _trajectory_waypoints.push_back(Eigen::Vector3f(-5.0f, 5.0f, -2.0f)); // Third waypoint
-    _trajectory_waypoints.push_back(Eigen::Vector3f(-5.0f, -5.0f, -2.0f)); // Fourth waypoint
-    _trajectory_waypoints.push_back(Eigen::Vector3f(_local_position->positionNed().x(),
-                                                    _local_position->positionNed().y(),
-                                                    _local_position->positionNed().z())); // Final waypoint at current position
+    _trajectory_waypoints.push_back(Eigen::Vector3f(1.0f, 2.5f, -3.0f));
+    _trajectory_waypoints.push_back(Eigen::Vector3f(14.0f, 2.5f, -3.0f));
+    _trajectory_waypoints.push_back(Eigen::Vector3f(14.0f, 8.0f, -3.0f));
+    _trajectory_waypoints.push_back(Eigen::Vector3f(-4.0f, 8.0f, -3.0f));
+
     _current_waypoint_index = 0; // Start at the first waypoint
     RCLCPP_INFO(_node.get_logger(), "CustomWaypoints mode activated");
     // Set initial trajectory setpoint

px4_roscon_25/precision_land_executor/README.md

@@ -50,6 +50,10 @@ The system:
 
 ## Usage
 
+The current waypoints require a velocity limit, you can set it in QGC.
+
+![QGC param](../../docs//assets/qgc_param.png)
+
 1. Launch the common launchfile
 
    ```sh

px4_roscon_25/teleop/README.md

@@ -46,6 +46,10 @@ ros2 run teleop_twist_rpyt_keyboard teleop_twist_rpyt_keyboard
 Just like in the Custom Mode demo, the teleop one requires you to manually activate it and arm the drone!
 Make sure you launch the maze in Foxglove, more details see [Foxglove Instructions](../px4_roscon_25/README.md)
 
+Your output should look like this:
+![foxglove example](../../docs/assets/foxglove_teleop.png)
+
+
 ## Exercise
 
 Navigate the drone to the target in Foxglove using teleoperation.