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Quadcopter navigation with obstacle avoidance?

asked 2016-01-15 14:10:26 -0500

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Hi, I am trying to implement autonomous navigation with obstacle avoidance for quadcopter (which has Pixhawk). All I want to implement is quadcopter being able to move from point A to point B while avoiding obstacles. I am fine with the navigation being in 2D.

I am using Odroid connected to Pixhawk as the main controller. I am using Hokuyo URG-04LX-UG01 Scanning Laser Rangefinder for detecting obstacles.

What I figured out till now is there are two options to achieve navigation with obstacle avoidance. Use MAVROS somehow along with Navigation Stack / MoveIt. I guess as I am fine with navigation in 2D Navigation Stack should be what I should use. Is that correct?

Navigation stack requires 3 sort of data to function: Sensor Data, TF & Odometry data. I have LIDAR publishing sensor data, so thats fine.

My questions are:

  1. How do I get TF and Odometry data (used by navigation stack) using MAVROS? What sort of data should I use? How do I do that?
  2. Can I use MoveIt if I dont have map or anything and only 2D LIDAR data?
  3. In future I want UAV to navigate in 3D. If answer to 2nd question is yes then should I switch to MoveIt instead? And any links for resources to read specifically about moveit and pixhawk will be very helpful.

Thanks!

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Have you gotten any further in this? I am doing something similar

Icehawk101 gravatar imageIcehawk101 ( 2016-09-21 09:54:31 -0500 )edit
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Hi, did you complete your project, I want to do similar kind of project, any suggestion for that ?

Nikka gravatar imageNikka ( 2017-07-11 04:20:57 -0500 )edit

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answered 2016-09-21 10:01:49 -0500

  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.

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Asked: 2016-01-15 14:10:26 -0500

Seen: 1,097 times

Last updated: Sep 21 '16