Getting Range finder information in ROS and more.
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Hi,
I'd like to get the range finder data in ROS, right now it doesn't appear in mpa_to_ros, what should I change for it to appear?
I cannot get it from MAVROS either, the distance_sensor doesn't appear in my topics. But it appears on GQC and i've got the right value.
Is it cause I set it up wrong in voxl-px4.conf (right now the value is NONE).
Also, how can i get an idea of when the VIO / OV start to fail so I can activate a failsafe in my ROS Node?Setup : Starling 2 max, dual cam, with TOF
Have a good day
Julien -
Hi,
I'd like to get the range finder data in ROS, right now it doesn't appear in mpa_to_ros, what should I change for it to appear?
I cannot get it from MAVROS either, the distance_sensor doesn't appear in my topics. But it appears on GQC and i've got the right value.
Is it cause I set it up wrong in voxl-px4.conf (right now the value is NONE).
Also, how can i get an idea of when the VIO / OV start to fail so I can activate a failsafe in my ROS Node?Setup : Starling 2 max, dual cam, with TOF
Have a good day
Julien -
@Judoor-0 For the rangefinder part i've looked into the mpa_to_ros code and modified it to add rangefinder_data_t and republished it in a ros_topic.
But for the covariance/error of the vio I still have no clue how to get it
Julien
@Alex-Kushleyev I don't know who can help me on this one, I tried to modify the mpa_to_ros package and I think I did it successfully (adding range-sensor and some vins status). How can I share it, so someone from your team can verify it and then if it's good enough put it on the gitlab ?
Julien -
@Judoor-0 For the rangefinder part i've looked into the mpa_to_ros code and modified it to add rangefinder_data_t and republished it in a ros_topic.
But for the covariance/error of the vio I still have no clue how to get it
Julien
Hi @Judoor-0,
Interesting I'm assuming you're looking at the rangefinders pipe. I can take a look at your code, or you can make a MR back into mpa-to-ros2.
Also, something to consider is using microdds and subscribing to the "fmu/in/obstacle_distance" topic.
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Hi @Judoor-0,
Interesting I'm assuming you're looking at the rangefinders pipe. I can take a look at your code, or you can make a MR back into mpa-to-ros2.
Also, something to consider is using microdds and subscribing to the "fmu/in/obstacle_distance" topic.
@teddy-zaremba Hi teddy,
I'm on ROS 1 so it's just MPA_TO_ROS and not MPA_TO_ROS2.
Yes I looked at the rangefinder pipes and did get the rangefinder data and republished_it in ROS and same with the ov_status.
I don't have access to microdds in ROS1 unless I do a ROS2 to ROS1 bridge.
Julien -
@teddy-zaremba Hi teddy,
I'm on ROS 1 so it's just MPA_TO_ROS and not MPA_TO_ROS2.
Yes I looked at the rangefinder pipes and did get the rangefinder data and republished_it in ROS and same with the ov_status.
I don't have access to microdds in ROS1 unless I do a ROS2 to ROS1 bridge.
JulienHi @Judoor-0,
Cool! Feel free to make a MR or post the link to your code if you want someone to review it.
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