@Muqing-Cao said in Integrating lidar sensor:
About using another state estimation source, can you suggest me how to do that? Say we can get lidar-based position estimate in ROS message, can we disable the onboard VIO and feed our position estimate to the onboard flight controller through MAVROS or something else? Please advise.
Please help advise on this question, thanks
@tom Thanks. I will get one of that.
About using another state estimation source, can you suggest me how to do that? Say we can get lidar-based position estimate in ROS message, can we disable the onboard VIO and feed our position estimate to the onboard flight controller through MAVROS or something else? Please advise.
@tom I see thanks. How about this one: https://www.modalai.com/products/m0062-2?srsltid=AfmBOoq_b52cK1R5X-8pluAer7oqq-BJb2Y1E2yUVsF2lFkwMl7mAFo2
It already has a usb and ethernet port, which seems to be more ideal for my case. Can it be fitted to starling 2 max without causing other issues?
@tom Ah... So what is your recommendation in this case? We need both wifi and connection to a ethernet device.
@tom I see. which port on the voxl 2 should i connect this board to? I wonder if this port has been already occupied on the starling 2 max drone.
@tom Thanks for your reply. Following up with some more details: i believe you mean connecting to the usb-c connector at the side of the the voxl2 board?
If we want to use the lidar-based odometry to replace the onboard qvio, what should we do? Should we inject the estimation into PX4 using MAVROS?
Hi, can some support answer this question?
Hi,
we have recently purchased a Starling 2 Max and we plan to put on a light-weight lidar sensor livox mid 360 on top of it. We would like to know if it is possible to connect the sensor to the voxl board through ethernet to receive the data and also run our ROS1 nodes for localization? We intend to replace the onboard state estimation system with our developed lidar-based solution.
@tom Thanks! Having looked briefly at the sdk instructions, it looks we are able to run ROS1/ROS2 on a host computer and control the drone using mavros setpoint, is that correct? Are the setpoint command available for both ROS1/ROS2? Can we get onboard VIO local position from ROS?
We are a research lab at CMU and we are considering building autonomous solutions using modalAI drone. When looking at the product, we have some queries: