gauravkuppa / base-drone Goto Github PK

Ultrasonic, Pressure(altitude). Speed sensor?

Find reference that uses a magnetometer.

1. Read data values from magnetometer (Mainly position values)
2. Get that information into a data structure to be passed.
3. Setup the Node as a publisher and have IMU_tools subscribe to them.
4. Send the ros message over to the IMU_tools

Where does this information get acquired?
What queues need to store what values?
Code this logic.

1. Find any data or githubs that implement the Adafruit Ultimate GPS with ROS
2. Get the GPS to produce correct position values
   a. May need a referential location to start with
3. Once producing sensor data, start packaging that into a data structure
4. Get these data structure values passed into a ros message, which is sent over a topic towards the navsat_transform_node
5. Ensure the navsat_transform node is (at least) receiving the messages from the gps_driver

Must have parts researched and ordered.

Complete ROS mag driver

Setup Raspberry Pi Environment

More details here, check github links, ROS website

See what the output data is. Mention any difficulties.

Should I have a queue for each sensor's data? How can I detect which sensor the data/information came from?

Would it just be more effective to sort data into a velocity_queue, orientation_queue, altitude_queue?

Refer to the Diagram on Drive

Need to take in final consideration of communication to be used for each sensor.
Magnometer needs to be added, different modes of pins need to be set in order to properly transmit/receive that format of communication.

how to take in state space information?
how often does each cycle take?
how to organize state machine in task?