My issue is almost the same as this one
I want to use the already implemented
collision avoidance algorithm from the
Ardupilot 4.3.6 flight stack.
Here is what I have now :
I followed the ardupilot developer document to install Gazebo and attached
Terabee Tower Evo Lidar sensor.
terabee_tower_evo sensor’s plugin like bellow
<update_rate>20</update_rate> <plugin name="tera_0" filename="libgazebo_ros_ray_sensor.so"> <ros> <namespace>/gazebo</namespace> <remapping>~/out:=range_0</remapping> </ros> <output_type>sensor_msgs/Range</output_type> <radiation_type>infrared</radiation_type> </plugin>
and I confirmed the topics
ros2 topic list with correct data
Here is my Gazebo simulation with an
iris drone and the
Terabee Tower Evo Lidar sensor on it :
I have some problems to make SITL using Gazebo.
I have no idea to send message from gazebo to the ardupilot
I want to do that so the
collision avoidance will be handle by the Ardupilot simulated Copter. I dont want to handle it with ROS or anything.
If you have any explanation on how to that !
Do you even know of its possible ?
Thanks and have a nice day