ardupilot_ros package for non-gps navigation

Description :

This is a ROS package for non-gps navigation for ardupilot containing all the required files and listed dependencies. This also contains a file from thien94/vision_to_mavros to set origin.

Detailed description of the project and setup: Ardupilot Docs - Cartographer

This package contains all the modified files for the following packages:

mavros
cartographer_ros
robot_pose_publisher
navigation

ap_navigation: https://github.com/ArduPilot/companion/tree/master/Common/ROS/ap_navigation

Important PRs: mavlink/mavros#1780

Requirements :

Ubuntu version 18.04 or 20.04

ROS Melodic or Noetic

Usage 1 :

On the ardupilot latest stable, run:

source ~/ardupilot/Tools/environment_install/install-ROS-ubuntu.sh

This will install the whole ardupilot-ros environment and install all the requirements.

Usage 2 :

This package contains a main launch file launching all the required launch files in a go.

Simply,

cd <ros_ws>/src/
git clone https://github.com/snktshrma/ardupilot_ros
cd ..
rosdep install --from-paths src --ignore-src -r -y
cd ardupilot_ros
catkin build

Run :

On 1st Terminal

roslaunch ardupilot_ros gzbo.launch #for quadrotor

or

roslaunch ardupilot_ros gzbo_rover.launch #for rover

On 2nd Terminal

../Tools/autotest/sim_vehicle.py -f gazebo-iris

or

sim_vehicle.py -v APMrover2 -f gazebo-rover -m --mav10 -I1

On 3rd Terminal

roslaunch ardupilot_ros main.launch