There is no geofence-related ROS topic provided by MAVROS, so I added the geofence function within my Offboard API implementation. The basic idea is, 1) Implement the geofenceSet API that sets safety distance from the place where UAV launches 2) When an offboard API (ex. Goto) that commands an UAV to move to a position outside of the distance, reject that command 3) If a UAV happens to be outside of the geofence (in manual mode or auto mode), Forces the UAV to return to home You can refer to my offboard API code and documentation at the github page github.com/sooyoungmoon/eDrone Thank you and I wish you great success in your research
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There is no geofence-related ROS topic provided by MAVROS, so I added the geofence function within my Offboard API implementation. The basic idea is,
1) Implement the geofenceSet API that sets safety distance from the place where UAV launches
2) When an offboard API (ex. Goto) that commands an UAV to move to a position outside of the distance, reject that command
3) If a UAV happens to be outside of the geofence (in manual mode or auto mode),
Forces the UAV to return to home
You can refer to my offboard API code and documentation at the github page
github.com/sooyoungmoon/eDrone
Thank you and I wish you great success in your research