Closed srmainwaring closed 10 months ago
Initial port of terrain-navigation to ROS 2 Humble.
There are changes required in upstream repos which require PRs. Working branches are listed below:
Packages up to terrain_navigation_ros are building and the main node is running.
terrain_navigation_ros
$ ros2 run terrain_navigation_ros terrain_planner_node
$ ros2 node info /terrain_planner /terrain_planner Subscribers: /mavros/camera/image_captured: mavros_msgs/msg/CameraImageCaptured /mavros/global_position/global: sensor_msgs/msg/NavSatFix /mavros/global_position/gp_origin: geographic_msgs/msg/GeoPointStamped /mavros/local_position/pose: geometry_msgs/msg/PoseStamped /mavros/local_position/velocity_local: geometry_msgs/msg/TwistStamped /mavros/mission/waypoints: mavros_msgs/msg/WaypointList /mavros/state: mavros_msgs/msg/State /parameter_events: rcl_interfaces/msg/ParameterEvent Publishers: /camera_pose_marker: visualization_msgs/msg/Marker /candidate_goal_marker: visualization_msgs/msg/Marker /candidate_start_marker: visualization_msgs/msg/Marker /geometric_controller/path: nav_msgs/msg/Path /goal_marker: visualization_msgs/msg/Marker /grid_map: grid_map_msgs/msg/GridMap /mavros/setpoint_raw/global: mavros_msgs/msg/GlobalPositionTarget /mavros/setpoint_raw/local: mavros_msgs/msg/PositionTarget /mavros/trajectory/generated: mavros_msgs/msg/Trajectory /parameter_events: rcl_interfaces/msg/ParameterEvent /path_segments: visualization_msgs/msg/MarkerArray /planned_viewpoints: visualization_msgs/msg/MarkerArray /planner_status: planner_msgs/msg/NavigationStatus /position_target: visualization_msgs/msg/Marker /rallypoints_marker: visualization_msgs/msg/MarkerArray /reference/path: nav_msgs/msg/Path /rosout: rcl_interfaces/msg/Log /tree: visualization_msgs/msg/MarkerArray /vehicle_path: nav_msgs/msg/Path /vehicle_pose_marker: visualization_msgs/msg/Marker /vehicle_velocity: visualization_msgs/msg/Marker /viewpoints: visualization_msgs/msg/MarkerArray Service Servers: /terrain_planner/describe_parameters: rcl_interfaces/srv/DescribeParameters /terrain_planner/get_parameter_types: rcl_interfaces/srv/GetParameterTypes /terrain_planner/get_parameters: rcl_interfaces/srv/GetParameters /terrain_planner/list_parameters: rcl_interfaces/srv/ListParameters /terrain_planner/set_current_segment: planner_msgs/srv/SetService /terrain_planner/set_goal: planner_msgs/srv/SetVector3 /terrain_planner/set_location: planner_msgs/srv/SetString /terrain_planner/set_max_altitude: planner_msgs/srv/SetString /terrain_planner/set_parameters: rcl_interfaces/srv/SetParameters /terrain_planner/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically /terrain_planner/set_path: planner_msgs/srv/SetVector3 /terrain_planner/set_planner_state: planner_msgs/srv/SetPlannerState /terrain_planner/set_start: planner_msgs/srv/SetVector3 /terrain_planner/set_start_loiter: planner_msgs/srv/SetService /terrain_planner/trigger_planning: planner_msgs/srv/SetVector3 Service Clients: /mavros/cmd/command: mavros_msgs/srv/CommandLong Action Servers: Action Clients:
Residual issues to resolve:
grid_map_geo
Initial port of terrain-navigation to ROS 2 Humble.
Dependencies
There are changes required in upstream repos which require PRs. Working branches are listed below:
Status
Packages up to
terrain_navigation_ros
are building and the main node is running.Tasks
Residual issues to resolve:
grid_map_geo
)