2D navigation on copter
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!)
Asked by polde on 2018-01-31 11:48:25 UTC
Comments
You have two separate questions here. You'll probably get better results by asking two questions instead of forcing them into one.
Asked by jayess on 2018-01-31 15:21:55 UTC