ardupilot / ardupilot_ros

ArduPilot ROS integration

ArduPilot Project

ArduPilot is the most advanced, full-featured, and reliable open source autopilot software available. It has been under development since 2010 by a diverse team of professional engineers, computer scientists, and community contributors. Our autopilot software is capable of controlling almost any vehicle system imaginable, from conventional airplanes, quad planes, multi-rotors, and helicopters to rovers, boats, balance bots, and even submarines. It is continually being expanded to provide support for new emerging vehicle types.

The ArduPilot project is made up of:

• ArduCopter: code, wiki

• ArduPlane: code, wiki

• Rover: code, wiki

• ArduSub : code, wiki

• Antenna Tracker : code, wiki

User Support & Discussion Forums

• Support Forum: https://discuss.ardupilot.org/

• Community Site: https://ardupilot.org

Developer Information

• Github repository: https://github.com/ArduPilot/ardupilot

• Main developer wiki: https://ardupilot.org/dev/

• Developer discussion: https://discuss.ardupilot.org

• Developer chat: https://discord.com/channels/ardupilot

Top Contributors

• Flight code contributors
• Wiki contributors
• Most active support forum users
• Partners who contribute financially

How To Get Involved

• The ArduPilot project is open source and we encourage participation and code contributions: guidelines for contributors to the ardupilot codebase

• We have an active group of Beta Testers to help us improve our code: release procedures

• Desired Enhancements and Bugs can be posted to the issues list.

• Help other users with log analysis in the support forums

• Improve the wiki and chat with other wiki editors on Discord #documentation

• Contact the developers on one of the communication channels

License

The ArduPilot project is licensed under the GNU General Public License, version 3.

• Overview of license

• Full Text

Maintainers

ArduPilot is comprised of several parts, vehicles and boards. The list below contains the people that regularly contribute to the project and are responsible for reviewing patches on their specific area.

• Andrew Tridgell:
  • Vehicle: Plane, AntennaTracker
  • Board: Pixhawk, Pixhawk2, PixRacer
• Francisco Ferreira:
  • Bug Master
• Grant Morphett:
  • Vehicle: Rover
• Willian Galvani:
  • Vehicle: Sub
  • Board: Navigator
• Michael du Breuil:
  • Subsystem: Batteries
  • Subsystem: GPS
  • Subsystem: Scripting
• Peter Barker:
  • Subsystem: DataFlash, Tools
• Randy Mackay:
  • Vehicle: Copter, Rover, AntennaTracker
• Siddharth Purohit:
  • Subsystem: CAN, Compass
  • Board: Cube*
• Tom Pittenger:
  • Vehicle: Plane
• Bill Geyer:
  • Vehicle: TradHeli
• Emile Castelnuovo:
  • Board: VRBrain
• Georgii Staroselskii:
  • Board: NavIO
• Gustavo José de Sousa:
  • Subsystem: Build system
• Julien Beraud:
  • Board: Bebop & Bebop 2
• Leonard Hall:
  • Subsystem: Copter attitude control and navigation
• Matt Lawrence:
  • Vehicle: 3DR Solo & Solo based vehicles
• Matthias Badaire:
  • Subsystem: FRSky
• Mirko Denecke:
  • Board: BBBmini, BeagleBone Blue, PocketPilot
• Paul Riseborough:
  • Subsystem: AP_NavEKF2
  • Subsystem: AP_NavEKF3
• Víctor Mayoral Vilches:
  • Board: PXF, Erle-Brain 2, PXFmini
• Amilcar Lucas:
  • Subsystem: Marvelmind
• Samuel Tabor:
  • Subsystem: Soaring/Gliding
• Henry Wurzburg:
  • Subsystem: OSD
  • Site: Wiki
• Peter Hall:
  • Vehicle: Tailsitters
  • Vehicle: Sailboat
  • Subsystem: Scripting
• Andy Piper:
  • Subsystem: Crossfire
  • Subsystem: ESC
  • Subsystem: OSD
  • Subsystem: SmartAudio
• Alessandro Apostoli :
  • Subsystem: Telemetry
  • Subsystem: OSD
• Rishabh Singh :
  • Subsystem: Avoidance/Proximity
• David Bussenschutt :
  • Subsystem: ESP32,AP_HAL_ESP32
• Charles Villard :
  • Subsystem: ESP32,AP_HAL_ESP32

ardupilot_ros's Issues

Way Point Following using Cartographer

Hello,

I have ArduCopter, ROS2, and Gazebo all working. I can pull up the cartographer demo, and it works just fine as I fly around. How do I make it plan a path using RViz's 2d goal pose? Or even better yet, how do you make it generate way points on the map you made?

Thank you!

Why mini-pix 4.2.0 and above firmware doesn't have this option VISO_TYPE = 1 to enable visual odometry

Why mini-pix 4.2.0 and above firmware doesn't have this option VISO_TYPE = 1 to enable visual odometry

Cartographer SITL SLAM not working, VisOdom: not Healthy

I have setup the simulation exactly as specified in the repository. (dependencies, param settings etc)
mavproxy shows the message VisOdom: not Healhy
to reproduce the issue I have prepared a Dockerfile (will need Nvidia container toolkit for GPU rendering):

FROM ardupilot/ardupilot-dev-ros:latest

RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg 
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
RUN apt-get update
RUN apt-get install -y socat terminator gz-garden libsdformat12-dev rapidjson-dev libgflags-dev ros-humble-ament-cmake-mypy ros-humble-image-transport ros-humble-image-transport-plugins ros-humble-geographic-msgs
ENV GZ_VERSION=garden
ENV ROS_DISTRO=humble
RUN pip3 install mavproxy
VOLUME ["/ros2_ws"]

RUN mkdir -p /ros2_ws/src 

WORKDIR /ros2_ws/src

# have tried with and without micro-ros
RUN git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git micro_ros_setup

RUN wget https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/ros2_gz.repos
RUN git clone https://github.com/ArduPilot/ardupilot_ros
RUN vcs import < ros2_gz.repos
WORKDIR /ros2_ws/src/ardupilot
RUN git submodule update --init --recursive
WORKDIR /ros2_ws
RUN /bin/bash -c  "source /opt/ros/$ROS_DISTRO/setup.sh && \
    apt-get update && \
    rosdep update && \
    rosdep install --rosdistro $ROS_DISTRO --from-paths src -i -r -y"

RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.sh && colcon build"

# For GPU support for gazebo

ENV NVIDIA_VISIBLE_DEVICES \
    ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES \
    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

# append source to bashrc
RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash;source /ros2_ws/install/setup.bash;" >> ~/.bashrc

bash script to build image:

#!/bin/bash
sudo docker build --no-cache -t $USER/test_sim .

bash script to launch simulation using Nvidia graphics card:

xhost +local:*
sudo docker run -it --rm   -e DISPLAY=$DISPLAY \
    --env="QT_X11_NO_MITSHM=1" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    --env="XAUTHORITY=$XAUTH" \
    --volume="$XAUTH:$XAUTH" \
    --runtime=nvidia  \
    --gpus all \
    --privileged \
    --net=host \
     $USER/test_sim /bin/bash -c "terminator & terminator -e 'source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && ros2 launch ardupilot_gz_bringup iris_maze.launch.py rviz:=false;/bin/bash ' & \
     terminator -e 'source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && ros2 launch ardupilot_ros cartographer.launch.py;/bin/bash' "

otherwise:

xhost +local:*
sudo docker run -it --rm   -e DISPLAY=$DISPLAY \
    --env="QT_X11_NO_MITSHM=1" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    --env="XAUTHORITY=$XAUTH" \
    --volume="$XAUTH:$XAUTH" \
    --privileged \
    --net=host \
     $USER/test_sim  /bin/bash -c "terminator & terminator -e 'source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && ros2 launch ardupilot_gz_bringup iris_maze.launch.py rviz:=false;/bin/bash ' & \
     terminator -e 'source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && ros2 launch ardupilot_ros cartographer.launch.py;/bin/bash' "

start mavproxy

 mavproxy.py --console --map --aircraft test --master=:14550

Then parameters are set using mavproxy using the commands

param set AHRS_EKF_TYPE 3
param set EK2_ENABLE 0
param set EK3_ENABLE 1
param set EK3_SRC1_POSXY 6
param set EK3_SRC1_POSZ 1
param set EK3_SRC1_VELXY 6
param set EK3_SRC1_VELZ 6
param set EK3_SRC1_YAW 6
param set VISO_TYPE 1
param set ARMING_CHECK 388598

Then, SITL simulation is restarted.

Developer Request - Add pre-commit hooks

Can we use the same hooks as ardupilot_gz in this repo?
ArduPilot/ardupilot_gz#21

Copter not moving to goal with nav2

ROS2 Humble, Ubuntu 22.04,
@pedro-fuoco

I was testing this branch ros2_navigation and was also going through the PR 11. Everything seems to work except that the copter is not moving towards the goal.

ardupilot_nav2.mp4

I was following the instructions here

Am I missing something?