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What is the best way to connect an APM controller to ROS?

asked 2013-11-01 19:31:11 -0600

Dereck gravatar image

updated 2014-01-28 17:18:26 -0600

ngrennan gravatar image

I have a few multicopters with an APM controller that I would like to connect to ROS. I want to access the mavlink data via ROS topics. Minimally, I want to have access to sensor data and then publish control topics to the UAV for some semi autonomous indoor fun.

I see there are a few options out there for packages, does anyone out there have recommendations or helpful hints to get started?

Thanks!

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if you find something interesting, let me know, please. i would be very thankful for any hints!

RodBelaFarin gravatar imageRodBelaFarin ( 2013-11-05 21:26:32 -0600 )edit

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answered 2013-11-06 03:06:03 -0600

Have you looked at roscopter?

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This looks exactly like what I'm looking for. :) Thanks!

Dereck gravatar imageDereck ( 2013-11-06 04:03:15 -0600 )edit

Is roscopter compatible with ros indigo ?

Dushan Eranga gravatar imageDushan Eranga ( 2017-03-08 04:37:47 -0600 )edit

Would strongly advice against that, use mavros.

tonybaltovski gravatar imagetonybaltovski ( 2017-03-08 09:56:00 -0600 )edit
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answered 2014-01-08 06:34:39 -0600

vooon gravatar image

Try my project - mavros (github.com/vooon/mavros). More needs to be done, but much has been done.

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Hi @vooon. Trying to catkin_make my dir with mavros in src folder. Already have mavlink in mavros folder. Gives me: File "../src/mavros/mavlink/pymavlink/generator/mavgen.py", line 14, in <module> from pymavlink.generator import mavparse ImportError: No module named pymavlink.generator Any tip?

TSC gravatar imageTSC ( 2014-06-03 11:56:51 -0600 )edit

1. Use wstool to install (it's automatically downloads all submodules) 2. Try to install pymavlink if error exists after 1.

vooon gravatar imagevooon ( 2014-06-04 09:27:13 -0600 )edit
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answered 2015-04-05 07:32:53 -0600

v.mayoral gravatar image

You definitely want to try mavros. We are using it with Erle-Brain ( http://wiki.ros.org/Robots/Erle-brain ) and so far we are really happy with it.

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answered 2014-07-25 17:09:50 -0600

pmosilva gravatar image
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answered 2013-11-06 01:30:17 -0600

Dereck gravatar image

updated 2013-11-06 01:30:56 -0600

I have not found any pre rolled solution, so I'm using the mavlink protocol to communicate with the APM over the telemetry link.

When I have it sorted out, I'll make a ROS node that exposes the mavlink interface as ROS topics.

This is how the at drone ROS node appears to operate BTW.

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Hey buddy !!! Did you found a solution for this ??? I want the same functionality that you want here. Could you please help me ???

Dushan Eranga gravatar imageDushan Eranga ( 2017-03-08 04:22:12 -0600 )edit

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Asked: 2013-11-01 19:31:11 -0600

Seen: 1,705 times

Last updated: Apr 05 '15