Hello, I wish to build a drone to perform flight in mission mode with obstacle avoidance with a companion computer running ROS2 Humble, so the operating system is Ubuntu 22. I have check the github page for PX4_Avoidance https://github.com/PX4/PX4-Avoidance but I have read on some post like this: htt…

@ Cristian …did you implement the obstacle sensing thro" a pixhawk fc directly or thro" companion computer like RasPi or Arduino. I would love to get some details about this setup either way. Unfortunately i am far away from doing any ROS 2 application for the moment

@sibujacob Is not possible to use obstacle avoidance without a companion computer, in my case I had use an old Intel NUC and a Realsense D435i. I have connected PC and fly controller with an FDI converter for UART (the same reported on PX4-Avoidance github page). For my knowledge the only obstacle …

Hi @Jaeyoung-Lim , Thanks for the information. :grinning: I have to use that package in two way, but both will use the local planner : I need to fly in a dynamic enviroment (with GPS) and I need that my UAV can perform path replanning autonomousy if it detect an obstacle to reach the predefined w…

@Cristian thank you for the detailed feedback. I actually tried my hands using Vl53l0x (i2c) sensor as collision prevention along with puxhawk orange cube fc but unfortunately it didn’t work. QGC reads the distance sensor but collision prevention never activated. I had adjusted the parameters…

@sibujacob I am sorry but I have never work with collision prevention, I have only work with the collision avoidance package… I think you have already do this, but the only thing I suggest is read Collision Prevention | PX4 User Guide again and maybe try it on simulation with an IRIS drone

@sibujacob If you are struggling with a setup issue or the documentation, please report the issue with detailed flight logs and instructions on how to reproduce the problem. px4 is an opensource project, and benefits from reporting bugs and fixing it together

I see I will be adding a global planner based on ompl, and from my side it is hard to make any promises on the timeline. You can have a look at Obstacle Avoidance | PX4 User Guide for creating your own avoidance node. On alternative packages, I am not sure what to suggest

Hi @Jaeyoung-Lim thank you for the fast reply. I have just start lo learn OMPL (3 days to install all the correct dependencies for omplapp :smiling_face_with_tear:) exactly for this purpose. I had read that there are not collision checker in OMPL, can you please suggest me one that can work with 3…

@Jaeyoung-Lim Yes, i am nearing to that stage . i had an issue on my quadcopter in general recently and am rectifying the issue further to which i shall report the same. thank you

@Jaeyoung-Lim I would like to contribute in this project

Obstacle Avoidance on ROS2

ROS 1 / ROS 2

Meriem_Ghrissi May 26, 2024, 2:56pm 20

Hello i am working in ubuntu 22.04 ros2 humble px4 sitl i want to perform object avoidance and path planning i am wondering if this GitHub - PX4/PX4-Avoidance: PX4 avoidance ROS node for obstacle detection and avoidance. would help me

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Obstacle Avoidance on ROS2

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