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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 SITL viewer model #51

Open Ryanf55 opened 2 months ago

Ryanf55 commented 2 months ago

Purpose

Add a new model for the purpose of a SITL viewer. Work-in-progress.

Issue

Relates to https://github.com/ArduPilot/ardupilot_gazebo/issues/90

srmainwaring commented 2 months ago

@Ryanf55 I've started to scan through this. Can you add a launch file to run the example or add the command required to get ArduPilot SITL and the viewer running to the README.

Update

Manage to get the node running. Getting this output (not working correctly):

https://github.com/ArduPilot/ardupilot_gz/assets/24916364/7e5d855b-8939-4570-a9d9-80e2694d373b

Ryanf55 commented 2 months ago

@Ryanf55 I've started to scan through this. Can you add a launch file to run the example or add the command required to get ArduPilot SITL and the viewer running to the README.

Update

Manage to get the node running. Getting this output (not working correctly):

sitl-viewer.mov

Yep! Do you think the approach of using gazebo transport is good, or would it be better to use a plugin instead? The key advantage of a plugin would be the ability to do lockstep, but I think for the purpose of a minimal demo, a dedicated ROS node that uses gz transport is simpler code.