ira_laser_tools
ardupilot
ira_laser_tools | ardupilot | |
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1 | 72 | |
188 | 9,871 | |
0.0% | 1.3% | |
0.0 | 10.0 | |
over 1 year ago | 5 days ago | |
C++ | C++ | |
BSD 3-clause "New" or "Revised" License | GNU General Public License v3.0 only |
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ira_laser_tools
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What are your questions and pain points in ROS2?
I found the ROS2 concept and design much more well established, especially for industrial. My problem on porting was more like when something available in ROS1 concept is not supported in the ROS2 concept. For example the infamous ira_laser_tools. This package basically merges all the scanning laser topics and publishes it as one so we can use it for AMCL / navigation (with the PointClouds too). The package will use ros::master api so it can manipulate the value alongside the data type format in which such concept is not supported in ROS2. In ROS1 we can take a list of topics with the data types in the format of std::string (topic name), std::string (data type). Laser topic parser in this package will process the data in a c++ way to get only the ones publishing sensor_msgs (scan data type). We can also call topics and the data type in ROS2, but in a format of std::map... I don't have sufficient c++ knowledge and reference to parse from the ROS2 api. I believe these kind of difficulties is also why nobody is working on it too.. In cases like these, how do you tackle the issue?
ardupilot
- Reading Sensor Data From Flight Controller Mateksys F405-TE - Integrated IMU - No Documentation
- Someone is selling my stuff on Etsy, can I do anything?
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Kalman Filter Tutorial: Kalman Filter from the Ground Up
They are widely used in narrow circles :)
Two of (arguably the best) open source RC aircraft flight controllers (ArduPilot and PX4) are using extended Kalman filters in their state estimators (essentially sensor fusion that provides attitude/position estimate):
https://github.com/ArduPilot/ardupilot/tree/master/libraries...
https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/e...
I'm not that familiar with cleanflight/betaflight/inav scene to know what the FPV racer flight controllers use.
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Tell HN: Parrot abandoned their Bebop and Disco drones
2. https://ardupilot.org/
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here pro vs here 4 GNSS RTK performance
Trimble also has some nice stuff, I think the BD940 is interesting. I do not know if it's recommended or not, but Ardupilot has a driver for the Septentrio GPS (https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_GPS/AP_GPS_SBF.cpp), as well for Trimble GPS (https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_GPS/AP_GPS_GSOF.cpp). So people have used these brands for drones.
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Book on programming my own autopilot
For programmable open source autopilot: Arduino > Ardupilot (https://ardupilot.org).
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How do I make a flight controller and what do I need?
You might also want to look at something like Ardupilot
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Robotics team is entering in an autonomous boat competition, need some advice.
I'd like to emphasize the reference to Ardupilot bc there is a lot of material already developed there: a lot about navigation and guidance from UAVs, and the low-level stuff. Check this out
- Does anyone know about a good avionics related open source project for learning purposes?
- Programming transmitter
What are some alternatives?
PlotJuggler - The Time Series Visualization Tool that you deserve.
inav - INAV: Navigation-enabled flight control software
PCL - Point Cloud Library (PCL)
PX4-Autopilot - PX4 Autopilot Software
micro_ros_raspberrypi_pico_sdk - Raspberry Pi Pico (RP2040) and micro-ROS integration
ESP32 - DroneBridge for ESP32. A transparent short range wifi based telemetry (serial to WiFi) link. Support for MAVLink, MSP, LTM (iNAV) or any other protocol
MicroPython - MicroPython - a lean and efficient Python implementation for microcontrollers and constrained systems
carla - Open-source simulator for autonomous driving research.
fprime - F´ - A flight software and embedded systems framework
paparazzi - Paparazzi is a free and open-source hardware and software project for unmanned (air) vehicles. This is the main software repository.
MissionPlanner - Mission Planner Ground Control Station for ArduPilot (c# .net)