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10.4 SITL Lidar obj avoid

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terrytaylorbonn edited this page Jun 24, 2024 · 2 revisions

24.0624

(24.0508 was "Total sim P3b Lidar")

The Gdrive document 10.3,4_(1.3ab)_sim-all_ai-yolo_lidar_auton_v48_24.0218.docx (second part "b" ) shows how to implement object avoidance with Lidar.

For the lidar in the diagram below:

  • Video 14: Add lidar to Gazebo. Add to runway.world. roslaunch runway.launch. Insert target box in Gazebo. rostopic echo /spur/laser/scan.

  • Video 15/16: Write avoidance.cpp. Catkin build. roslaunch lidar.launch. startsitl.sh. roslaunch apm.launch. rosrun iq_gnc avoidance. Move box toward copter, copter moves away (CC sends ROS messages to MavROS which sends Mavlink).

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Startup sequence: (1) roslanch iq_sim lidar.launch (starts ROS), (2) SITL, (3) roslaunch APM, (4) rosun avoidance.cpp

24.0907 Wiki, Gdrive, Youtube, ZiptieAI.com, ZiptieAI docs. The author is looking for a job!

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Getting into the air ASAP

(0) Reference

EPIC 1 - Build/fly FPV drone

(1) FPV simulators (inav notes 0608)

(2) SBeeF405/INAV (1a)

(3) SBeeF405/BF (1b)

(4) SBeeF405/AP (1c)

EPIC 2 - Build/fly Pixhawk drone

(5) Pix6c/PX4 (2a)

(6) Pix6c/AP (2b)

EPIC 3 - Add AI to Pixhawk drone

(7) AI cc + cam

(8) AI CC+FW

(9a) SIH (frame+world sim)

EPIC 4 – Basic Autonomy

(13) CC AI (+ Mavlink) (2)

(11) FC_Mavlink_API (via CC/GCS APIs) (5.3)

(13c) CC autonomy algorithms

EPIC 5 – Advanced Autonomy

(20) Kalman KK (+Python,vectornav)

(14) Firmware dev (5)

(22) AI

EPIC 6 – Project management 24.0903

EPIC 7 – Mission platforms / special projects

(15) Mission platforms (6b)

(16) Special projects (5.6,5.5)

EPIC 8 – PITS (Pie in the sky)

(12) ROS (+ROSMAV) (was E4)

(14b) Matlab (was E5/4(HITL))

(9b) HITL (frame+world sim)

(10) (skip) SITL (total sim) (1) (was E4)

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