2D navigation on copter

edit

Hi all. I would try to be as clear as possible: I would like to implement the Navigation Stack (which i widely used on turtlebot3) of ROS or, in alternative, the Hector package on a hexacopter that i built myself.

Important parts of the copter are:

• odoird xu4q (connection in ssh-wifi from ground control base)
• Pixhawk Flight Controller with standard PX4 firmware
• Qgroundcontrol latest version

I'm currently able to:

• switch to OFFBOARD mode both using mavros service and from radio controller (mapping a channel for )
• stable flight with the radio controller, so no hardware problem
• arming/disarming from the odroid

Next step would be the implementation of the navigation stack. But I'm missing some point:

• how to obtain localization? (my idea is to install a cheap lidar just to start, the lsd of the turtlebot 3 for example)

• how to properly setup (tf tree, publish, subscribe and so on ) everything in mavros ?

I'm a little bit confused especially on the last part, so any help or suggestion is really appreciated !

Ps. I also have the px4flow that would be useful for position control without gps (which of course I'm not intending to use!)