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Published 20 hours ago • verified publisher icon Jaeyoung-Lim

Migration to ROS2

Open mzahana opened this issue 2 years ago • 7 comments

Hi @Jaeyoung-Lim

Any plans to make a version of this package for ROS2?

mzahana avatar Feb 02 '23 12:02 mzahana

@mzahana What parts would you want on ros2?

Jaeyoung-Lim avatar Feb 02 '23 13:02 Jaeyoung-Lim

I would imagine refactoring the geometric controller node, and any related nodes, to subscribe to ROS2 topics to get reference trajectory, and send setpoint to PX4.

I would not use MAVROS in this case since there is communication with PX4 through RTSP

mzahana avatar Feb 02 '23 13:02 mzahana

@mzahana Any updates regarding this matter? I think it would take me max. 1 day to port this over if it is useful for anyone

Jaeyoung-Lim avatar Aug 08 '23 10:08 Jaeyoung-Lim

It is definitely in the plan. I just have not had the time to work on it. Maybe I will get some time in a week or 2.

mzahana avatar Aug 08 '23 10:08 mzahana

@mzahana We can try to work together to also get it done more quickly.

I have most parts without the controller done here: https://github.com/Jaeyoung-Lim/px4-offboard

Jaeyoung-Lim avatar Aug 08 '23 11:08 Jaeyoung-Lim

I saw your repo for the offboard controller in ros2.

Are you thinking of a c++ implementation or Python one ? You use the Eigen library, and we would need to go C++ to have minimum migration time, compared to Python.

Also, I have a concern about the name of the package. If it is mostly a geometric controller, and mavros is not yet mature for ros2 integration, why would it be called mavros_controllers ?

I would explicitly call it something like geometric_controller_ros2, or something similar.

mzahana avatar Aug 25 '23 08:08 mzahana

I am interested in this topic, especially c++ version of mavros controller. But I am just beginning ros2. Let me see what I can do.

ZhongmouLi avatar Nov 26 '23 14:11 ZhongmouLi