Simple Obstacle Avoidance System Using RPLidar A2 and Pixhawk, ROS
Created By 이승찬, Korea Science Academy of KAIST 19th.
Developed Since 2020.10 ~
FC : Holybro Pixhawk 4 (FMUv4)
Just Recommended. Other FC can connected with Linux device with MAVLink can be used.
FrameWheel : DJI F450, 2212 920kv, 4cell Lipo
Just Recommended, But 450-sized frame is best.
(Because bigger frame doesn't match purpose for obstacle avoidance, and smaller frame cannot carry Linux device and other modules.)
RC : I used FrSky Taranis Q7 & x8R
Linux Device : Raspberry Pi 3B+ or higher. (Banana PI, Rock PI also good for this system)
If you use lower spec device, you might experience frequent freezing when setting up the environment.
I think using ubuntu server image can solve this problem.
Linux OS : Ubuntu 18.04 LTS
I used Ubuntu Mate 18.04 armhf. Do not use arm64 version. Using 64-bit OS can cause library compile error.
LiDAR : Slamtec RPLiDAR A2M8