about ROS2 avoidance launch execution.

[ldg810]

Hi @TSC21, I am continuously trying to use global_planner in ROS2 environment.

There are some problems. Could you make any suggestions and ideas?

• Did you launch avoidance module using launch file?

ros2 launch avoidance avoidance_sitl.launch.py

To launch avoidance_sitl.launch.py, the 'px4.launch.py' is needed. I found the file at px4.launch.py. Did you use this file? or made it as your own?

• I tried to use ros foxy(with ubuntu 20.04) but many compatibility issues are existing.

Such as default gcc and java version is not compatible with PX4 build so I should manually modify and install compatible versions.. but using dashing is easy to install and build things. I think using foxy is little bit hard for many users at this time.

• I tried to include PathWithRiskMsg.msg in global_planner, but build failed. However, make the msg file as separate package(like 'avoidance_msg') is easy and successful.

Do you have any experience about including .msg file into the package instead of make seperate package? (I tried many tricks and followed official guide in Custom-ROS2-Interfaces but it was not successful)