Stand alone use in simulation

[Cristian-wp]

Hi This is really an interesting work! I would like to use it without the mrs package, my idea is to perform a SITL simulation inside Gazebo using PX4 firmware. In the package description you write "and the motion/detection modules are connected with a CTU MRS system.", what do you mean with motion/detection modules? Do you mean the slam system? I have read your thesis (really good work), but I have not understand if this package is mandatory bound with CTU MRS system. I was planning to use a drone with only a lidar (no depth camera), can I do it or the package need n Pointcloud2 data? Another thing, your obstacle avoidance detect only "geometrical" know shapes as obstales? I mean, in the readme you witre that it can detect cylinder and spheres with lidar, but if the drone face a square colum, a wall or maybe a parked car, it avoid the obstacole or crash on it?

Can you please give me some suggestion about my idea? :) Thanl you in advance.

[poludmik]

Hi,

thank you, I'm glad you liked it. Sorry for my delayed response, I
have pretty time-consuming studies now. Basically, my code uses MRS ROS system for slam / getting info from
sensors(like lidar) and motion(my code publishes on ROS topics and MRS
nodes move the drone). I imagine it would be problematic to substitute all these details to
work with different lidar data and everything. But you can surely make some sort of use of path-planning methods and
obstacle avoidance, which do not really require anything but stl. If you rearrange detecting obstacles in your own style, then these
methods can help you i.e. finding some paths around them.

Mikhail

Quoting Cristian-wp @.***>:

Hi This is really an interesting work! I would like to use it without the mrs package, my idea is to
perform a SITL simulation inside Gazebo using PX4 firmware. In the package description you write "and the motion/detection
modules are connected with a CTU MRS system.", what do you mean with
motion/detection modules? Do you mean the slam system? I have read your thesis (really good work), but I have not
understand if this package is mandatory bound with CTU MRS system. I was planning to use a drone with only a lidar (no depth camera),
can I do it or the package need n Pointcloud2 data?

Can you please give me some suggestion about my idea? :) Thanl you in advance.

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[Cristian-wp]

Hi @poludmik, thank you for the explanation :) Just to be shure I have understand correctly:

1) Basically, my code uses MRS ROS system for slam / getting info from sensors(like lidar) and motion(my code publishes on ROS topics and MRS nodes move the drone). I imagine it would be problematic to substitute all these details to work with different lidar data and everything.

This means that I need to use the same message type that MRS ROS subscribe on your node right? Dou you have a list of the publisher/subscriber topic (with types) your node needs?

2) If you rearrange detecting obstacles in your own style, then these methods can help you i.e. finding some paths around them.

I have not understand very well your sentence...can you please be more clear? For what I understand, I can use your path-planning methods and obstacle avoidance whithout MRS system right? For example: I have a lidar that publish a PoinyCloud2 msg and a slam system that gives me an Odometry msg. Can I just remap my topics to yours, and the two algorithms works? (changing the .stl of the obstacles)

3) But you can surely make some sort of use of path-planning methods and obstacle avoidance, which do not really require anything but stl.

The .slt must be close to the real object to avoid or they must be similar? For example I use a .stl of an Audi TT to identify the cars as obstacles. But the drone face a Fiat Panda, it crash on the Panda or avoid it?