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ethz-asl / terrain-navigation

Repository for Safe Low Altitude Navigation in steep terrain for fixed-wing Aerial Vehicles
https://ieeexplore.ieee.org/abstract/document/10443502
BSD 3-Clause "New" or "Revised" License
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Parameterize the flight stack for MAVROS #41

Closed Ryanf55 closed 4 months ago

Ryanf55 commented 4 months ago

Purpose

Allow launching MAVROS configured for either ArduPilot or PX4 configuration through launch arguments.

Benefits

Don't need to comment/uncomment code to change which is used

Cost

Code duplication with the Node object. There may be cleaner ways to do this, but it's better than before.

Details

I think we can use an if_condition to launch either PX4 or ArduPilot. Just have to figure out how to do that without duplicating the Node object.