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improve avoidance node to use ROS2 #611
base: ros2
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Declare loop thread as global variable and node shared pointers to execute spinning in the background modify tf2::fromMsg usage
@TSC21 This might be interesting for you |
Thank you for your comment. Now, I am using ros2 dashing and using px4_sitl_rtps for px4 firmware. I will also summarize my simulation environment to readme file. |
Are you able to use ROS2 Foxy instead? We are currently aiming for that distro as LTS for the microRTPS bridge. |
Yes, no problem to use foxy. I made Dockerfile for my environment so changing version is not problem. I will test the planner in foxy environment. |
remove unnecessary blank Co-authored-by: Nuno Marques <n.marques21@hotmail.com>
To correctly count the size of obst_avoid.waypoints, sizeof() should be changed to .size() function.
I am working on to use PX4-Avoidance global_planner in ROS2 environment.
Until now, I succeed with subscribing a topic(VehicleLocalPosition) in ROS2 environment.
The avoidance node should be changed to the following reasons.
The message type of mavros and px4_msgs in ROS2 is quite different so I thinks its little bit hard work to porting global_planner to ROS2 environment but I will try to solve it.