Autonomous Navigation System for a Quadrotor
Hi All,
I have built a quadrotor using Raspberry Pi and now I would like to develop an autonomous navigation system for the drone using ROS.
I am familiar with ROS Navigation stack, but my interpretation is that the navigation stack has been developed for ground robots. Anyone has any experience with ROS Navigation Stack on a drone? or any other navigation packages specifically developed for drone navigation?
Different parts of my drone are:
1) Raspberry Pi
2) 9Dof sensor GY80
3) wifi
4) Basic web camera
5) I2c to PWM motor driver
To me you should rethink about it, because ROS is ok for ground robots but for a drone you have others things, that you have to consider too. I personally developed a drone using ROS but there a lot of pitfall that you should consider. First of all there are no
floatinglink types. You have to...write a lot of things on your own. Maybe are you very skilled and you can do that, but I strongly suggest you to modularize your project and to use ROS to manage smaller things like: sensor on board, dynamic model, RX readings, etc.
Any news about this project? I'm interested in 2d ros navigation on quadrotor (fixed z)
If you are willing to replace your camera with a stereo one, you can use MoveIt! for your drone. Will Selby's great work is a starter. But it only uses GUI, so I'm developing a project with API.
You can check it and contribute to it if you would like to. But for the time being there isn't a simple 3D navigation stack. There are several SLAM variants implemented by TUM Computer Vision lab that can also be used to build a navigation system for a drone. But they have many issues for now.