Flight test master indoors about px4-avoidance HOT 7 CLOSED

Not sure if it helps, but note that with the docker configs, you can start the setup in "prod-debug" mode, and it creates a VPN server to which you can connect a computer. I find it useful for connecting Rviz to the avoidance module running on the Aero and seeing e.g. the output coming from the realsense.

The scripts had some bugs with @SaliniVenate, I will push fixes today.

For deploying in this mode on the Aero, you can follow these instructions:

1. Clone the avoidance repo on the Aero, say in /home/root/avoidance
2. $ cd /home/root/avoidance/docker
3. Run $ python3 run.py local --prod-debug for the local planner in "prod-debug" mode, or $ python3 run.py global --prod-debug for the global planner in "prod-debug" mode
4. Instructions will appear on how to connect to the VPN server

If it doesn't work, please contact me ("@jones" on Slack).

from px4-avoidance.

@JonasVautherin We have been able to run avoidance node on Intel Aero and could view point cloud in rviz running in desktop connected to Intel Aero. Now we want to fly the drone indoors with avoidance running (Autonomous Flight). What are the steps to do that?

from px4-avoidance.

For the local planner, I think #35 might be interesting. I'll have a look at the global planner later today.

from px4-avoidance.

@JonasVautherin I validated #35 in simulator. It cannot be tested on Intel Aero as the changes are for master branch and not demo_aero branch.
For Intel Aero, I am trying to figure out the following -

1. How would avoidance components like local_planner, global_planner etc finally fit into Intel Aero
2. Difference in configuration, param values etc for indoors vs outdoors

from px4-avoidance.

@lbegani: I am not completely sure what you mean here, so let me know if I'm off-topic =).

1. To me, what the avoidance module needs on the Aero is mavros, the avoidance node(s) (for the global planner, that includes the octomap, path_handler, etc), and the realsense node. So I made 3 docker images for that. mavros-avoidance and realsense-node are common between both the local and global planner.

   So I believe that deploying a ROS system on the Aero should be done with docker containers (unless we find a much better way to package the stuff, but the Aero instructions suggest docker for now). What's convenient with that is that the containers are shared between the simulation environment (on your computer) and the Aero, so you know you are running exactly what you simulated. Then the mavros and realsense-node containers should not be specific to the avoidance module, but more generic, as other modules might want to connect to them.

2. We need to find a way to have parameter files for each config. We already discussed with @baumanta and @mrivi that we should at some point bring the changes made for the aero into master (that's the purpose of pr-stop_in_front_obstacle) and have a way to load the params there. It could be a parameter file given as an argument to the launch file. I'm quite new to ROS, so I don't know an elegant way to do that yet, but I think there must be one :-).

from px4-avoidance.

@JonasVautherin

1. What I want is to draw a block diagram with flow that would give an overview of the system end to end. For eg - Once a waypoint is set, how would global/local planner gets triggered and take control of the vehicle. Perhaps, its obvious for some but not very clear in my head
2. This is where I feel we can contribute. If your team can you provide a clear problem statement and what should be the approach to solve it, we can work towards getting it done. We would need your guidance.

from px4-avoidance.

this seems to be a stale issue

from px4-avoidance.