Hi everyone,
I’m working on a project involving a differential steering boat that navigates solely based on vision. The system is built using ROS2 and MAVROS and Gazebo simulation. My main challenge is operating in Guided mode without GPS with attitude_target messages.
I’ve experimented with adjusting the EKF and AHRS parameters, but it hasn’t led to the desired outcome. Unfortunately, I don’t have the capability to estimate the position using other sensors. What I managed to achieve so far is that the boat remains in Guided mode after losing GPS, but I’m unable to navigate because of AHRS which doesn’t work without GPS input.
Has anyone had experience with maintaining control in Guided mode without GPS? Any tips or advice on how to achieve this would be greatly appreciated.
Thanks in advance!