Restructured ardupilot_ros

README.md

@@ -17,7 +17,7 @@
 
 * [ardupilot_gz](https://github.com/ArduPilot/ardupilot_gz)
 
-* [cartographer_ros]()
+* [ardupilot_ros]()
 
 ## Installation
 
@@ -60,7 +60,7 @@ In another terminal, with the world and copter in place, launch cartographer to
 ```bash
 cd ~/ros2_ws
 source install/setup.bash
-ros2 launch ardupilot_ros cartographer.launch.py
+ros2 launch ardupilot_cartographer cartographer.launch.py
 ```
 
 If you'd like to get the information from Cartographer to go into Ardupilot's extended kalman filter, you will need to change some parameters. You can do that through any GCS, including mavproxy:
@@ -87,12 +87,12 @@ The joystick controller allows you to control ArduPilot through a ROS joy topic.
 ```bash
 cd ~/ros2_ws
 source install/setup.bash
-ros2 run ardupilot_ros joy_controller
+ros2 run ardupilot_cartographer joy_controller
 ```
 
 Then run the controller using,
 
-`ros2 run ardupilot_ros joy_controller`
+`ros2 run ardupilot_cartographer joy_controller`
 
 Now, using the keyboard keys you can control the drone.
 
@@ -112,15 +112,15 @@ Launch cartographer:
 ```bash
 cd ~/ros2_ws
 source install/setup.sh
-ros2 launch ardupilot_ros cartographer.launch.py rviz:=false
+ros2 launch ardupilot_cartographer cartographer.launch.py rviz:=false
 ```
 
 Launch nav2:
 
 ```bash
 cd ~/ros2_ws
 source install/setup.sh
-ros2 launch ardupilot_ros navigation.launch.py
+ros2 launch ardupilot_cartographer navigation.launch.py
 ```
 
 Takeoff the Copter using `mavproxy` to an altitude of 2.5m:

ardupilot_cartographer/README.md

@@ -0,0 +1,147 @@
+# ardupilot_ros: ROS 2 use cases with Ardupilot
+
+[![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit)
+
+## Requirements
+
+### System Requirements
+
+* [ROS Humble](https://docs.ros.org/en/humble/Installation.html)
+
+* [Gazebo Garden](https://gazebosim.org/docs/garden/install)
+
+* [Cartographer ROS](https://google-cartographer-ros.readthedocs.io/en/latest/)
+   * Recommended: Install Google Cartographer with rosdep
+
+### Workspace Requirements
+
+* [ardupilot_gz](https://github.com/ArduPilot/ardupilot_gz)
+
+* [cartographer_ros]()
+
+## Installation
+
+Clone this repository into your ros2 workspace alongside ardupilot_gz:
+```bash
+cd ~/ros2_ws/src
+git clone [email protected]:ardupilot/ardupilot_ros.git
+```
+
+Install dependencies using rosdep:
+```bash
+cd ~/ros2_ws
+rosdep install --from-paths src --ignore-src -r --skip-keys gazebo-ros-pkgs
+```
+
+## Build
+
+Build it with colcon build:
+```bash
+cd ~/ros2_ws
+source /opt/ros/humble/setup.bash
+colcon build --packages-up-to ardupilot_cartographer ardupilot_gz_bringup
+
+```
+
+## Usage
+
+### 1. Cartographer running with LiDAR on copter
+
+This simulation has an Iris copter equipped with a 360 degrees 2D LiDAR in a maze world.
+To launch rviz and gazebo, run:
+
+```bash
+cd ~/ros2_ws
+source install/setup.bash
+ros2 launch ardupilot_gz_bringup iris_maze.launch.py
+```
+In another terminal, with the world and copter in place, launch cartographer to generate SLAM:
+
+```bash
+cd ~/ros2_ws
+source install/setup.bash
+ros2 launch ardupilot_cartographer cartographer.launch.py
+```
+
+If you'd like to get the information from Cartographer to go into Ardupilot's extended kalman filter, you will need to change some parameters. You can do that through any GCS, including mavproxy:
+
+-  AHRS_EKF_TYPE = 3 to use EKF3
+-  EK2_ENABLE = 0 to disable EKF2
+-  EK3_ENABLE = 1 to enable EKF3
+-  EK3_SRC1_POSXY = 6 to set position horizontal source to ExternalNAV
+-  EK3_SRC1_POSZ = 1 to set position vertical source to Baro
+-  EK3_SRC1_VELXY = 6 to set velocity horizontal source to ExternalNAV
+-  EK3_SRC1_VELZ = 6 to set vertical velocity source to ExternalNAV
+-  EK3_SRC1_YAW = 6 to set yaw source to ExternalNAV
+-  VISO_TYPE = 1 to enable visual odometry
+-  ARMING_CHECK = 388598 (optional, to disable GPS checks)
+
+The parameters above are recommended for SITL. If you plan on using this on a real copter, it is a good idea to setup a second source of EKF. This way the robot doesn't crash if the external odometry you are providing stops publishing or gets lost.
+
+Please refer to this link for more information on [Common EKF Sources](https://ardupilot.org/copter/docs/common-ekf-sources.html>) as well as this guide on [GPS / Non-GPS Transitions](https://ardupilot.org/copter/docs/common-non-gps-to-gps.html).
+
+### 2. Joystick Controller
+
+The joystick controller allows you to control ArduPilot through a ROS joy topic.
+
+```bash
+cd ~/ros2_ws
+source install/setup.bash
+ros2 run ardupilot_cartographer joy_controller
+```
+
+Then run the controller using,
+
+`ros2 run ardupilot_cartographer joy_controller`
+
+Now, using the keyboard keys you can control the drone.
+
+### 3. Obstacle avoidance using Cartographer and Nav2
+
+Using the same simulation as before, the nav2 node can be launched to control the copter once it is in the air.
+
+Launch the simulation:
+
+```bash
+cd ~/ros2_ws
+source install/setup.sh
+ros2 launch ardupilot_gz_bringup iris_maze.launch.py rviz:=false
+```
+Launch cartographer:
+
+```bash
+cd ~/ros2_ws
+source install/setup.sh
+ros2 launch ardupilot_cartographer cartographer.launch.py rviz:=false
+```
+
+Launch nav2:
+
+```bash
+cd ~/ros2_ws
+source install/setup.sh
+ros2 launch ardupilot_cartographer navigation.launch.py
+```
+
+Takeoff the Copter using `mavproxy` to an altitude of 2.5m:
+
+```bash
+mavproxy.py --console --map --aircraft test --master=:14550
+
+mode guided
+
+arm throttle
+
+takeoff 2.5
+```
+
+You may now navigate while mapping using the `Nav2 Goal` tool in RVIZ!
+
+## Contribution Guideline
+
+* Ensure the [pre-commit](https://github.com/pre-commit/pre-commit) hooks pass locally before creating your pull request by installing the hooks before committing.
+   ```bash
+   pre-commit install
+   git commit
+   ```
+* See the [ArduPilot Contributing Guide](https://github.com/ArduPilot/ardupilot/blob/master/.github/CONTRIBUTING.md)

launch/cartographer.launch.py → ardupilot_cartographer/launch/cartographer.launch.py

@@ -23,7 +23,7 @@ def generate_launch_description():
         parameters=[{"use_sim_time": LaunchConfiguration("use_sim_time")}],
         arguments=[
             "-configuration_directory",
-            FindPackageShare("ardupilot_ros").find("ardupilot_ros") + "/config",
+            FindPackageShare("ardupilot_cartographer").find("ardupilot_cartographer") + "/config",
             "-configuration_basename",
             "cartographer.lua",
         ],
@@ -64,7 +64,7 @@ def generate_launch_description():
             "-d",
             str(
                 Path(
-                    FindPackageShare("ardupilot_ros").find("ardupilot_ros"),
+                    FindPackageShare("ardupilot_cartographer").find("ardupilot_cartographer"),
                     "rviz",
                     "cartographer.rviz",
                 )

launch/navigation.launch.py → ardupilot_cartographer/launch/navigation.launch.py

@@ -31,8 +31,8 @@ def generate_launch_description():
                 ),
                 launch_arguments={
                     "use_sim_time": "true",
-                    "params_file": FindPackageShare("ardupilot_ros").find(
-                        "ardupilot_ros"
+                    "params_file": FindPackageShare("ardupilot_cartographer").find(
+                        "ardupilot_cartographer"
                     )
                     + "/config"
                     + "/navigation.yaml",
@@ -76,7 +76,7 @@ def generate_launch_description():
             "-d",
             str(
                 Path(
-                    FindPackageShare("ardupilot_ros").find("ardupilot_ros"),
+                    FindPackageShare("ardupilot_cartographer").find("ardupilot_cartographer"),
                     "rviz",
                     "navigation.rviz",
                 )

package.xml → ardupilot_cartographer/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>ardupilot_ros</name>
+  <name>ardupilot_cartographer</name>
   <version>0.0.0</version>
   <description>The ardupilot ROS 2 use cases package</description>
   <maintainer email="[email protected]">Pedro Fuoco</maintainer>

setup.py → ardupilot_cartographer/setup.py

@@ -2,7 +2,7 @@
 from glob import glob
 from setuptools import setup
 
-package_name = "ardupilot_ros"
+package_name = "ardupilot_cartographer"
 
 setup(
     name=package_name,
@@ -36,6 +36,6 @@
     license="GPLv3+",
     tests_require=["pytest"],
     entry_points={
-        "console_scripts": ["joy_controller=ardupilot_ros.joy_controller:main"],
+        "console_scripts": ["joy_controller=ardupilot_cartographer.joy_controller:main"],
     },
 )

ardupilot_ros/CMakeLists.txt

@@ -0,0 +1,6 @@
+cmake_minimum_required(VERSION 3.8)
+
+project(ardupilot_ros)
+find_package(ament_cmake REQUIRED)
+ament_package()
+

ardupilot_ros/package.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>ardupilot_ros</name>
+  <version>1.0.0</version>
+  <description>ardupilot_ros meta-package</description>
+  <!-- <maintainer email="">Ryan Friedman</maintainer> -->
+  <maintainer email="[email protected]">Pedro Fuoco</maintainer>
+  <maintainer email="[email protected]">Sanket Sharma</maintainer>
+  <license>GPLv3</license>
+  <exec_depend>ardupilot_cartographer</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
+