TensorFleet Drone JS Project

JavaScript/Node.js template for drone control over rosbridge using roslib. Includes an OFFBOARD velocity guided mover driven by a mission plan.

Requirements

Install Bun (v1.0.0+)

curl -fsSL https://bun.sh/install | bash

Quick start

1. Install JavaScript dependencies: bun install
2. Open Simulation view and Map View.
3. Start your VM, then run:
   • bun run restart - Restart the simulation (resets drone state)
   • bun drone:mover - ARM → TAKEOFF → OFFBOARD waypoint mission → LAND

Scripts

• check-runtime.js: Runtime compatibility checker. Verifies your JavaScript runtime (Bun or Node.js) supports modern syntax features like optional chaining. Run bun run check or npm run check if you encounter syntax errors. Provides specific troubleshooting steps if issues are detected.
• src/restart_sim.js: Restart the PX4 simulation via /simulation_manager/start_simulation service. Useful for resetting drone state between test runs.
• src/drone_mover.js: Complete autonomous mission: ARM → TAKEOFF → OFFBOARD → fly waypoints from missions/example_mission.plan → return home → LAND. Falls back to 8-point circle pattern if mission plan is missing. Uses env or config/drone_config.yaml (offboard section) for tuning.

Tutorials

Learn drone control step-by-step with focused examples:

Beginner (getting started):

1. bun run tutorial:01 - Connect to rosbridge and read drone state
2. bun run tutorial:02 - Display all telemetry (position, GPS, battery)
3. bun run tutorial:03 - Send ARM/DISARM command

Intermediate (basic flight): 4. bun run tutorial:04 - Takeoff to altitude and land (complete flight cycle) 5. bun run tutorial:05 - Enter OFFBOARD mode and hover

Advanced (autonomous navigation): 6. bun run tutorial:06 - Move forward using velocity control 7. bun run tutorial:07 - Navigate to waypoint with position feedback

Each tutorial is ~50-100 lines and demonstrates one concept clearly. See src/tutorials/ for source code.

Documentation

• Tutorials Overview - Complete tutorial index and navigation
• Technical Reference - Detailed technical implementation details, ROS/MAVROS internals, and API documentation
• Configuration Guide - Comprehensive setup guide for connection methods, proxy configuration, and troubleshooting
• Simulation Guide - PX4 simulation setup and management
• TensorFleet Util - tensorfleet-util package documentation and API reference

Configuration

Edit config/drone_config.yaml or override via env vars:

• TENSORFLEET_BASE_URL + TENSORFLEET_JWT - primary TensorFleet connection (other URLs are derived automatically when blank)
• ROSBRIDGE_URL - rosbridge WebSocket URL
• SETPOINT_FRAME_ID - frame for setpoints (default map)
• ALT_TARGET, EDGE_M, V_FAST, V_MIN, WAYPOINT_RADIUS, SLOW_RADIUS, SETPOINT_HZ, R2B_HOST, R2B_PORT - OFFBOARD tuning for drone_mover.js (defaults favor a small world: ~1m alt, ~5m hop, gentle velocities)
• MISSION_PLAN_PATH - override the plan file used by drone_mover.js (defaults to missions/example_mission.plan) The offboard section in the YAML mirrors the environment overrides for drone_mover.js.

Layout

.
|-- src/
|   |-- tutorials/          # Step-by-step learning scripts
|   |-- lib/                # Shared utilities
|   |-- drone_mover.js      # Advanced mission example
|   `-- restart_sim.js      # Simulation restart utility
|-- config/                 # Network + flight config
|-- missions/               # Example mission plans
|-- launch/                 # Optional ROS 2 launch files
|-- package.json
`-- README.md

Tips

• New to drone control? Start with the tutorials (bun run tutorial:01 through tutorial:07)
• rosbridge runs in the VM; no local ROS 2 binaries needed
• Use bun run restart to reset simulation between test runs
• Verify connectivity with src/drone_mover.js for full autonomous mission