PX4 now knows how to avoid obstacles on Intel Aero! The code is here: https://github.com/px4/avoidance
The documentation is in the repository link above and it only requires a standard Intel Aero.
Great! But why is it restricted to Intel Aero?Can it be ported to other platforms?
I wouldn't know since when ROS nodes are limited to specific airframes - so no, it is not limited to Aero. You can use any drone with a suitable depth sensor.
Unfortunately the Intel aero compute board is out-of-stock @Intel online store. So even if we wanted to have collision and avoidance using a RealSense depth sensor, we will likely have to wait. It would be great if the RealSense could be plugged into the Pixhawk in an updated autopilot model.
Has anyone used the obstacle avoidance on hardware other than the Intel Aero? If so, what HW and how?
Yes, The avoidance has been running on multiple of our (custom) frames. We use Intel Realsense D435 and a companion computer on which the algorithm runs. So far the Intel Nuc, TX2, Up core have been tested as companion boards.
We will also introduce a racer-size frame shortly which is a lot more compact than Aero and has current realsense and a current Intel CPU.