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ArduPilot / ardupilot_gz

Tools for ArduPilot ROS2 integration and testing on ROS 2 humble
GNU General Public License v3.0
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Add AION R1 and Blueboat models, and mavros bindings #45

Closed itskalvik closed 5 months ago

itskalvik commented 5 months ago

Hi, I added the AION R1 rover, which is a 2x2 skid steer rover, and the blueboat model. In addition, since the current ros2 bindings for ardupilot are still in development, I also added mavros bindings to control the models in gazebo.

-Kalvik

srmainwaring commented 5 months ago

Hi @itskalvik, thanks for the PR. ROS 2 integration for both these vehicles will be a good addition.

We need to make a few changes to avoid duplication in other repos.

  1. The BlueBoat model is already in ArduPilot/SITL_Models/Gazebo so we don't need another copy here.
  2. If the source repo for the AION R1 supports ArduPilot we could use that, or write a shim model to adapt it, again probably in SITL_Models, so it can be used without ROS.
  3. Both rovers are skid steer and these can be controlled using the current AP_DDS external control interface, so we don't require the mavros integration. The launch files for the wildthumper rover provide an example for how both these rovers may be integrated.
itskalvik commented 5 months ago

Alright, sounds good. I will just submit the AION R1 to sitl_models. Thanks for the quick response!

srmainwaring commented 5 months ago

@itskalvik - would still be good to have the launch files here for the AION R1 and BlueBoat, but they should mirror the wild thumper example, or better still we could have the rover name / type as a launch argument.

itskalvik commented 5 months ago

Gotcha, I will take a crack at making the model name as an argument.