Mavros | basic mavros code that usefull for starting mavros project | Robotics library
kandi X-RAY | Mavros Summary
kandi X-RAY | Mavros Summary
Some of my basic mavros code that usefull for starting mavros project and learning ROS. A. Get Started using ROS. B. Basic ROS command.
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Top functions reviewed by kandi - BETA
- set flight mode
- set land
- set arm
- turn off arm
- set takeoff mode
- Print GPS position information .
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QUESTION
As a premise I must say I am very inexperienced with ROS.
I am trying to publish several ros messages but for every publish that I make I get the "publishing and latching message for 3.0 seconds", which looks like it is blocking for 3 seconds.
I'll leave you with an example of how I am publishing one single message:
...ANSWER
Answered 2021-Nov-29 at 18:44Part of the issue is that rostopic CLI tools are really meant to be helpers for debugging/testing. It has certain limitations that you're seeing now. Unfortunately, you cannot remove that latching for 3 seconds message, even for 1-shot publications. Instead this is a job for an actual ROS node. It can be done in a couple of lines of Python like so:
QUESTION
my name is chaos and I am learning how to control a drone with ROS2.
My current goal is to master indoor drone navigation. I don't have any experience with this, so I found and tried The Construct's
ROS Q&A series「2D Drone Navigation」. It's very helpful and I learned how to build a drone with ROS 1.
2D Drone Navigation：https://www.youtube.com/watch?v=dND4oCMqmRs&t=71s
But I am a ROS beginner and many people, including the official ROS2 Tutorials, recommend starting with ROS2.
So here are my questions:
１．
How can I reproduce the functions which are introduced in 「2D Drone Navigation」with ROS2？ Are there any backwards compatible ROS packages that will work in ROS2 ?
For example, I couldn't find 「gmapping, amcl and move_base」packages or scripts in turtlebot3_navigation2 ROS2 branch. If there are best practices for this, please tell me.
ROS1 turtlebot_navigation
ROS2 turtlebot3_navigation2
２．
I am going to try 「[ROS Projects] - Performing LSD-SLAM with a ROS based Parrot AR.Drones」next.
Like question 1, I would like to know whether there is a ROS2 version of these instructions.
Performing LSD-SLAM with a ROS based Parrot AR.Drones
３．
My final goal is to realize something like the video below. Are there any ROS2 packages that could help make indoor navigation with a drone easier?
drone indoor navigation with ROS
Lastly, I have a question about choosing my drone's core.
I am learning how to build my drone with ROS2 by watching micro-ros tutorials and using the macro MAV「Crazyflie」used in micro-ros's demo.
demo link
I plan to switch to PX4 in the future because PX4 supports ROS2 and communicates with ROS2 like 「Crazyflie」. (overview)
It seems Ardupilot will support ROS2 in the future but still use MAVROS, which is called 「Not future proof」in the video below (DDS/ROS2 bridge vs MAVROS). Therefore, I think PX4 is the best choice for now. Please let me know if my conclusion is wrong.
DDS/ROS2 bridge vs MAVROS 3:01 ~
ROS2 MAVROS support for Ardupilot
Thank you so much for all your help. I hope I haven't asked too many questions.
...ANSWER
Answered 2021-Aug-21 at 17:14Since your question is kind of broad, I'll just go down the list and answer each part.
- What you mean here are actually forwards compatible ROS nodes(ROS1 nodes that work with ROS2). While on the surface ROS1 and ROS2 are similar there are very distinct syntax differences; there's also substantial differences on the backend. ROS2 doesn't yet have the fully fleshed out community support that you've noticed with ROS1. However, there are still some similar packages such as the Nav2 package.
- Like my last answer you are going to find less in terms of "off the shelf" solutions for ROS2. That being said, the Nav2 package does do some SLAM. There is also the robot_devkit.
- One of the better local planners for ROS1 was teb. While they've said there are plans to port it to ROS2 they are waiting for Nav2 builds to be a little more stable. I know of the nav2_planner, however, I've never used it and cannot speak to how well it will work(if at all).
I unfortunately cannot answer your last question since my ROS experience is strictly with autonomous vehciles that stay on the ground.
QUESTION
I am currently trying to embed the google map on the PyQt5 based GUI. My environment includes Ubuntu 16.04 LTS and python 2.7.
Basically, I am trying to combine the following two python scripts(map.py and gui.py) into one script(gui.py) and I would do appreciate it if someone shed some light on this problem.
...ANSWER
Answered 2020-Jul-10 at 15:08You just have to put the QWebView which is a widget. To manage the position I use qlayouts:
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You can use Mavros like any standard Python library. You will need to make sure that you have a development environment consisting of a Python distribution including header files, a compiler, pip, and git installed. Make sure that your pip, setuptools, and wheel are up to date. When using pip it is generally recommended to install packages in a virtual environment to avoid changes to the system.
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