ardupilot_ros: turn it into a ros 2 package

README.md

@@ -1,73 +1,40 @@
-# ardupilot_ros package for non-gps navigation
-
-## Description : 
-This is a ROS package for non-gps navigation for ardupilot containing all the required files and listed dependencies. This also contains a file from [thien94/vision_to_mavros](https://github.com/thien94/vision_to_mavros) to set origin. 
-
-Detailed description of the project and setup: [Ardupilot Docs - Cartographer](https://ardupilot.org/dev/docs/ros-cartographer-slam.html)
-
-This package contains all the modified files for the following packages:
-````
-mavros
-cartographer_ros
-robot_pose_publisher
-navigation
-````
-
-ap_navigation: https://github.com/ArduPilot/companion/tree/master/Common/ROS/ap_navigation
-
-Important PRs: https://github.com/mavlink/mavros/pull/1780
-
+# ardupilot_ros: ROS 2 use cases with Ardupilot
 
 ## Requirements :
-Ubuntu version 18.04 or 20.04
-
-ROS Melodic or Noetic
-
-## Usage 1 :
-
-On the ardupilot latest stable, run:
+* [ROS Humble](https://docs.ros.org/en/humble/Installation.html)
 
-````
-source ~/ardupilot/Tools/environment_install/install-ROS-ubuntu.sh
-````
-This will install the whole ardupilot-ros environment and install all the requirements.
+* [Gazebo Garden](https://gazebosim.org/docs/garden/install)
 
-## Usage 2 :
+* [ardupilot_gz](https://github.com/ArduPilot/ardupilot_gz)
+    * Here are two workarounds for know issues in the installation of `ardupilot_gz` (they should be fixed soon)
+        * [Handle microxrceddsgen dependency](https://github.com/ArduPilot/ardupilot_gz/issues/19)
+        * Set the ENABLE_DDS ardupilot parameter manually if it isn't set
 
-This package contains a main launch file launching all the required launch files in a go.
+## Instalation
 
-Simply,
+Clone this repository into your ros2 workspace alongside ardupilot_gz
+```bash
+cd ~/ros2_ws/src
+git clone [email protected]:pedro-fuoco/ardupilot_ros.git -b ros2-package
+```
+Build it with colcon build
+```bash
+cd ~/ros2_ws
+source install/setup.sh
+colcon build --packages-select ardupilot_ros
+```
 
-````
-cd <ros_ws>/src/
-git clone https://github.com/snktshrma/ardupilot_ros
-cd ..
-rosdep install --from-paths src --ignore-src -r -y
-cd ardupilot_ros
-catkin build
-````
+## Usage
 
-## Run :
+### 1. Cartographer running with lidar on copter
 
-### On 1st Terminal
-````
-roslaunch ardupilot_ros gzbo.launch #for quadrotor
-````
-or
-````
-roslaunch ardupilot_ros gzbo_rover.launch #for rover
-````
+This simulation has an iris copter equipped with a 360 degrees 2d lidar in a maze world, to launch it run:
 
-### On 2nd Terminal
-````
-../Tools/autotest/sim_vehicle.py -f gazebo-iris
-````
-or
-````
-sim_vehicle.py -v APMrover2 -f gazebo-rover -m --mav10 -I1
-````
+```bash
+ros2 launch ardupilot_gz_bringup iris_maze.launch.py
+```
+With the world and copter in place, launch cartographer to generate SLAM:
 
-### On 3rd Terminal
-````
-roslaunch ardupilot_ros main.launch
-````
+```bash
+ros2 launch ardupilot_ros cartographer.launch.py
+```

configuration_files/cartographer.lua → config/cartographer.lua

@@ -5,7 +5,7 @@ options = {
   map_builder = MAP_BUILDER,
   trajectory_builder = TRAJECTORY_BUILDER,
   map_frame = "map",
-  tracking_frame = "base_link",
+  tracking_frame = "imu_link",
   published_frame = "base_link",
   odom_frame = "odom",
   provide_odom_frame = true,
@@ -52,4 +52,4 @@ POSE_GRAPH.constraint_builder.global_localization_min_score = 0.65
 POSE_GRAPH.optimization_problem.huber_scale = 1e2
 POSE_GRAPH.optimize_every_n_nodes = 30
 
-return options
+return options