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ROS-ArduPilotMega Integration

Posted by Ralph Castain on May 25, 2011 at 7:30am
3689408423?profile=originalPer a suggestion from Chris, I'm working on integrating APM with ROS so that APM looks like an ROS node. I'm a newbie with APM and Arduino, but experienced with robotics in general.

I've done the basics, getting the various IDE's running and proving the concept of outputting APM sensor readings as ROS topics.

What I'm seeking now is input from the community as to what we want this integration to provide. Any suggestions and/or requests would be most welcome!
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Comments

  • Ritchie May 25, 2011 at 9:55am

    I presume this is the WillowGarage ROS?

    I'd hope the end evolution would be swarm control so GPS, heading and speed should be of paramount importance. I can think of more but I think that is the most important as it will help single craft in tracking as well as the people having fun with many.

  • AndrewF May 25, 2011 at 9:50am

    Ralph,

    I think one interesting goal would be to have ROS upload/edit waypoints on the APM.  This could allow APM to interact with some of the path planners available for ROS.  If a map is provided with a desired target point (to photograph or something) as well as various obstacles to avoid, ROS could plan and upload a safe set of waypoints to get to the target.  Also if you wanted to photograph a large area, a ROS planner could be used to determine a set of waypoints that allow the aircraft path to cover the entire area, for example.

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