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  1. You have to generate that. You can make a URDF model of the quadcopter or build a transform publisher to get the TF data. For the odometry you can get the imu data from /mavros/imu/data and if you have a px4flow (or knockoff) from /px4flow/raw/optical_flow_rad. I also use laser scan matching to simulate odom data using the lidar. Pass the data through an EKF or UKF (I use robot_localization) to get a combined odometry estimate.

I am planning to use moveit for 3D navigation but have only just started looking into it. If you have gotten any further in this I would like to hear about it.