Can this simulation environment be ported to ROS2? - Githubissues

matlabbe / rtabmap_drone_example

Example of using move_base with mavros/px4 and rtabmap visual SLAM

BSD 3-Clause "New" or "Revised" License

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Can this simulation environment be ported to ROS2? #17

Open tulingcheng86 opened 4 months ago

matlabbe commented 4 months ago

Maybe. There are many things to consider:

The ros1 version is using specific PX4 and mavros versions, so the current px4 config or mavros connection may not work with latest code
The Gazebo model may need to be updated for latest gazebo (e..g, px4 simulated controller the same?)
nav2 config may be slightly different than nav stack on ros1, though should work like on ros1
rtabmap launch file be ported to ros2 launch file, otherwise it should work like on ros1

It feels that a new repo (or new branch called ros2?) may need to be created as most things would change.