jeking1 / uav_ros_general

General launch files and configuration for "uav_ros_stack" package

UAV ROS General

Ubuntu 18.04	Ubuntu 20.04

Summary

This package contains various sensor configuration for the uav_ros_stack.

It is intended to be used on UAV platforms with an onboard computer running Ubuntu Linux.

Node Description

VelocityEstimationNode

Uses constant velocity Kalman filter to estimate UAV odometry

• Subscribed topic poseStamped
  • geometry_msgs::PoseStamped
  • UAV pose measurement
• Published topic odometry
  • nav_msgs::Odometry
  • UAV estimated odometry

Start with default configuration as follows:

export UAV_NAMESPACE=red; roslaunch uav_ros_general velocity_estimation.launch

VelocityEstimationNode_ConstAcc

Uses constant acceleration Kalman filter to estimate UAV odometry

• Subscribed topic poseStamped
  • geometry_msgs::PoseStamped
  • UAV pose measurement
• Subscribed topic imu
  • sensor_msgs::Imu
  • UAV IMU measurement
• Published topic odometry
  • nav_msgs::Odometry
  • UAV estimated odometry

Start with default configuration as follows:

export UAV_NAMESPACE=red; roslaunch uav_ros_general velocity_estimation_acc.launch

VelocityEstimationNode_ConstAcc

Uses unscented Kalman filter with a constant acceleration model to estimate UAV odometry

• Subscribed topic poseStamped
  • geometry_msgs::PoseStamped
  • UAV pose measurement
• Subscribed topic imu
  • sensor_msgs::Imu
  • UAV IMU measurement
• Published topic odometry
  • nav_msgs::Odometry
  • UAV estimated odometry

Start with default configuration as follows:

export UAV_NAMESPACE=red; roslaunch uav_ros_general velocity_estimation_acc_ukf.launch

rc_to_joy_node

Convert RC messages to joy. Used only for real-world flights.

• Subscribed topic mavros/rc/in
  • mavros_msgs::RCIn
  • Message from the currently active RC
  • Default Mavros topic name
• Published topic joy
  • sensor_msgs::Joy
  • Converted RC message

Start with default configuration for Futaba RC as follows:

export UAV_NAMESPACE=red; roslaunch uav_ros_general futaba_to_joy.launch

rc_override_node

Override an RC message field at given index.

• Parameter override_index
  • Index of the overriden field
• Parameter override_value
  • Desired value of the overriden field
• Published topic mavros/rc/override
  • mavros::OverrideRCIn
  • Published overriden RC values
  • Default Mavros topic name

Start with default configuration as follows:

export UAV_NAMESPACE=red; roslaunch uav_ros_general rc_override.launch override_index:=6

Optional Dependancies

Depending on the UAV sensor suite additional ROS driver packages may need to be installed:

• velodyne - Collection of ROS packages supporting Velodyne high definition 3D LiDARs
• ouster_os0_driver - Collection of ROS packages supporting Ouster LiDARs
• openzen_sensor - This software allows to forward sensor data from sensor connected via OpenZen to ROS. In the context of this package it is used for the LPMS IMU sensor.
• realsense2_camera - These are packages for using Intel RealSense cameras (D400 series SR300 camera and T265 Tracking Module) with ROS.
• zed_cpu_ros - A simple zed camera driver which only use CPU and only publish left and right raw images and its camera info.
• lpms_imu - A ROS driver for LP-RESEARCH IMU sensors.
• ros_gremsy & gremsy_gimbal_control - An ROS interface to control gremsy gimbals.
• pozyx_ros - A ROS Interface to Pozyx sensor

The following SLAM software may need to be installed when using this package:

• cartographer & cartographer_ros - Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
• A-LOAM - Advanced LiDAR Odometry And Mapping

The following packages are required if using an Optitrack system:

• ros_vrpn_client - A ROS Interface for the Virtual Reality Peripheral Network (VRPN)
• vrpn_catkin - A Catkin wrapper for VRPN libraries