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MAVLink to ROS gateway with proxy for Ground Control Station
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Distance sensors improvements #740

Closed khancyr closed 7 years ago

khancyr commented 7 years ago

FEATURE details

Can be assign to me !

TSC21 commented 7 years ago

Add support for laser subscriber and publisher

You mean: http://docs.ros.org/api/sensor_msgs/html/msg/LaserScan.html ?

Limit the error stream at https://github.com/mavlink/mavros/blob/master/mavros_extras/src/plugins/distance_sensor.cpp#L208 In case we send distance to FCU, at least on ardupilot, the message will be resend by the FCU so mavros spam the console.

Ok makes sense. @JD-ETH this may interest you, as Ardupilot already does what you are looking for.

support mavlink/mavlink#740 (if merged)

Yeah that should be straightforward.

Waiting your PR then :)

khancyr commented 7 years ago

Yes I was thinking about laserscan, but it doesn't seem that ROS use a lot of 1D laser rangefinder. I will dig a little to see how they handle it. Otherwise it could be use for Ardupilot proximity feature that act like a simplified 360 laserscan

TSC21 commented 7 years ago

@khancyr check this: https://github.com/mavlink/mavros/pull/292#issuecomment-101750640. For 1D Laser, we use INFRARED type in sensor_msgs/Range.

Otherwise it could be use for Ardupilot proximity feature that act like a simplified 360 laserscan

How do you have that implemented? Multiple DISTANCE_SENSOR msgs, one for each beam?

TSC21 commented 7 years ago

Related: https://github.com/ros/common_msgs/pull/73

khancyr commented 7 years ago

interesting ! Thanks for the information !

About proximity, yes , each sector send a distance_sensor msg with a different id : http://ardupilot.org/dev/docs/code-overview-object-avoidance.html

TSC21 commented 7 years ago

About proximity, yes , each sector send a distance_sensor msg with a different id : http://ardupilot.org/dev/docs/code-overview-object-avoidance.html

Thanks for sharing

TSC21 commented 7 years ago

@khancyr are you considering doing a PR to this in the mean time?

khancyr commented 7 years ago

yes probably next week, I am waiting some material to do test

TSC21 commented 7 years ago

yes probably next week, I am waiting some material to do test

Awesome

TSC21 commented 7 years ago

Solved with #747, #748, #749.