GSoC 2023: GPS-Denied Autonomous Exploration with ROS 2

marcusbarnet · November 24, 2023, 9:00am

Hello @pedro-fuoco and @rfriedman I’ve read your project research and it is great! I usually use ROS for my research work and I’m approaching to ROS. I work with ground rovers, do you think your project can also be adapted to work on UGV? I’m looking for a navigation system with NO GPS support, but with a high accuracy.

rfriedman · November 26, 2023, 2:00am

Yep! We’ve already made basic examples for rover here. Feel free to try it out and provide feedback.

You can do velocity control with rover on master.

Pretty much all the code in ArduPilot for the ROS 2 interface is platform-agnostic anyways. The platform-specific adaptations are very thin.

If you don’t ever have GPS, there are mods you’ll need to do through parameters to disable GPS during pre-arm.

marcusbarnet · November 26, 2023, 8:45am

Thank you a lot! I can’t use GPS indoor since the signal would be too noisy, so I need to assume I have no GPS sensor.

Sometimes, it can happen that the vehicle will move from outdoor to indoor so in this case I think the navigation wouldn’t be affected too much.

The problem is when the vehicle will start moving directly from an indoor environment since it does not have amy valid GPS position.

rfriedman · November 27, 2023, 11:30pm

Yep, that’s totally fine. You have to provide some sort of yaw alignment. We just made the project easier by adding a GPS to pass pre-arm.

Jai.GAY · December 20, 2023, 2:29am

@pedro-fuoco , do you manage to pass all the Ardupilot DDS tests?
colcon test --packages-select ardupilot_dds_tests
colcon test-result --all --verbose

P_L100 · January 8, 2024, 7:45am

Does this work well outdoors in open terrain? Does it lose accuracy over a long flight and if so, how much? What are its limitations in terms of types of terrain, altitude, etc.? Thank you.

rfriedman · January 14, 2024, 8:07pm

The 2D lidar used in SITL is not suitable for outdoor use and it is small range. It will not work in a flat field with no obstacles. There is not much point to use this technology if you are outdoor - just use GPS.

Outdoor requires a different set of technologies and hardware. To my knowledge, there is not much available in ROS 2 for outdoor GPS denied navigation. Some manufacturers sell integrated solutions with their platforms; I would purchase one of those.

The infrastructure (DDS) build here creates a nice platform to develop against in ROS 2, so if you are have ability to perform work in this open-source for outdoor navigation, please share your findings and code.

Jimi1811 · February 15, 2024, 6:15pm

Hello @pedro-fuoco, your contributions to the community are truly impressive. I am currently working on a project involving Ardupilot and ROS2 for warehouse applications. The navigation requirements include operating in a 3D environment, as the drone’s goal is to conduct stock counting. Given my relative newness to this field, I would greatly appreciate any recommendations you might have. Thank you!

rfriedman · October 29, 2024, 12:37pm

Hello Jimi,

This GSOC project was only scoped to 2D. In my recent presentation to ArduPilot, I showed a demo of integration with Bonxai.

I’m still working with the contributor to retrieve their code and create a nice demo/tutorial. If you are interested in 3D navigation and mapping for ArduPilot, please open a new thread so we can discuss there.

yonie · November 15, 2024, 9:23pm

@rfriedman I would also be interested in 3D navigation. Was a new thread about opened this?

rfriedman · November 25, 2024, 2:57pm

Not yet. Feel free to create one

bilal_babar · February 7, 2025, 5:00pm

@david_sastre @rfriedman GitHub - ArduPilot/ardupilot_gz: Tools for ArduPilot ROS2 integration and testing on ROS 2 humble

followed all the steps but getting this error when i set the parameters to use Lidar for navigation

getting Prearm: visodom: not healthy error

[ruby $(which gz) sim-1] [Wrn] [ArduPilotPlugin.cc:1583] ArduPilot controller has reset
[mavproxy.py -5] AP: PreArm: Need Position Estimate
[mavproxy.py -5] AP: PreArm: VisOdom: not healthy
[mavproxy.py -5] AP: PreArm: Need Position Estimate
[mavproxy.py -5] AP: PreArm: VisOdom: not healthy

A same issue is discussed in this issue in the repo too

github.com/ArduPilot/ardupilot_ros

Cartographer SITL SLAM not working, VisOdom: not Healthy

opened 10:04AM - 21 Jan 24 UTC

basmango

I have setup the simulation exactly as specified in the repository. (dependencie…s, param settings etc) mavproxy shows the message VisOdom: not Healhy to reproduce the issue I have prepared a Dockerfile (will need Nvidia container toolkit for GPU rendering): ``` FROM ardupilot/ardupilot-dev-ros:latest RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null RUN apt-get update RUN apt-get install -y socat terminator gz-garden libsdformat12-dev rapidjson-dev libgflags-dev ros-humble-ament-cmake-mypy ros-humble-image-transport ros-humble-image-transport-plugins ros-humble-geographic-msgs ENV GZ_VERSION=garden ENV ROS_DISTRO=humble RUN pip3 install mavproxy VOLUME ["/ros2_ws"] RUN mkdir -p /ros2_ws/src WORKDIR /ros2_ws/src # have tried with and without micro-ros RUN git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git micro_ros_setup RUN wget https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/ros2_gz.repos RUN git clone https://github.com/ArduPilot/ardupilot_ros RUN vcs import < ros2_gz.repos WORKDIR /ros2_ws/src/ardupilot RUN git submodule update --init --recursive WORKDIR /ros2_ws RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.sh && \ apt-get update && \ rosdep update && \ rosdep install --rosdistro $ROS_DISTRO --from-paths src -i -r -y" RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.sh && colcon build" # For GPU support for gazebo ENV NVIDIA_VISIBLE_DEVICES \ ${NVIDIA_VISIBLE_DEVICES:-all} ENV NVIDIA_DRIVER_CAPABILITIES \ ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics # append source to bashrc RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash;source /ros2_ws/install/setup.bash;" >> ~/.bashrc ``` bash script to build image: ``` #!/bin/bash sudo docker build --no-cache -t $USER/test_sim . ``` bash script to launch simulation using Nvidia graphics card: ``` xhost +local:* sudo docker run -it --rm -e DISPLAY=$DISPLAY \ --env="QT_X11_NO_MITSHM=1" \ --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \ --env="XAUTHORITY=$XAUTH" \ --volume="$XAUTH:$XAUTH" \ --runtime=nvidia \ --gpus all \ --privileged \ --net=host \ $USER/test_sim /bin/bash -c "terminator & terminator -e 'source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && ros2 launch ardupilot_gz_bringup iris_maze.launch.py rviz:=false;/bin/bash ' & \ terminator -e 'source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && ros2 launch ardupilot_ros cartographer.launch.py;/bin/bash' " ``` otherwise: ``` xhost +local:* sudo docker run -it --rm -e DISPLAY=$DISPLAY \ --env="QT_X11_NO_MITSHM=1" \ --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \ --env="XAUTHORITY=$XAUTH" \ --volume="$XAUTH:$XAUTH" \ --privileged \ --net=host \ $USER/test_sim /bin/bash -c "terminator & terminator -e 'source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && ros2 launch ardupilot_gz_bringup iris_maze.launch.py rviz:=false;/bin/bash ' & \ terminator -e 'source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && ros2 launch ardupilot_ros cartographer.launch.py;/bin/bash' " ``` start mavproxy ``` mavproxy.py --console --map --aircraft test --master=:14550 ``` Then parameters are set using mavproxy using the commands ``` param set AHRS_EKF_TYPE 3 param set EK2_ENABLE 0 param set EK3_ENABLE 1 param set EK3_SRC1_POSXY 6 param set EK3_SRC1_POSZ 1 param set EK3_SRC1_VELXY 6 param set EK3_SRC1_VELZ 6 param set EK3_SRC1_YAW 6 param set VISO_TYPE 1 param set ARMING_CHECK 388598 ``` Then, SITL simulation is restarted.

Would really appreciate if someone could help with this, thanks.

rfriedman · March 2, 2025, 8:23pm

Please subscribe to this issue.

github.com/ArduPilot/ardupilot_ros

Cartographer SITL SLAM not working, VisOdom: not Healthy

opened 10:04AM - 21 Jan 24 UTC

basmango

I have setup the simulation exactly as specified in the repository. (dependencie…s, param settings etc) mavproxy shows the message VisOdom: not Healhy to reproduce the issue I have prepared a Dockerfile (will need Nvidia container toolkit for GPU rendering): ``` FROM ardupilot/ardupilot-dev-ros:latest RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null RUN apt-get update RUN apt-get install -y socat terminator gz-garden libsdformat12-dev rapidjson-dev libgflags-dev ros-humble-ament-cmake-mypy ros-humble-image-transport ros-humble-image-transport-plugins ros-humble-geographic-msgs ENV GZ_VERSION=garden ENV ROS_DISTRO=humble RUN pip3 install mavproxy VOLUME ["/ros2_ws"] RUN mkdir -p /ros2_ws/src WORKDIR /ros2_ws/src # have tried with and without micro-ros RUN git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git micro_ros_setup RUN wget https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/ros2_gz.repos RUN git clone https://github.com/ArduPilot/ardupilot_ros RUN vcs import < ros2_gz.repos WORKDIR /ros2_ws/src/ardupilot RUN git submodule update --init --recursive WORKDIR /ros2_ws RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.sh && \ apt-get update && \ rosdep update && \ rosdep install --rosdistro $ROS_DISTRO --from-paths src -i -r -y" RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.sh && colcon build" # For GPU support for gazebo ENV NVIDIA_VISIBLE_DEVICES \ ${NVIDIA_VISIBLE_DEVICES:-all} ENV NVIDIA_DRIVER_CAPABILITIES \ ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics # append source to bashrc RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash;source /ros2_ws/install/setup.bash;" >> ~/.bashrc ``` bash script to build image: ``` #!/bin/bash sudo docker build --no-cache -t $USER/test_sim . ``` bash script to launch simulation using Nvidia graphics card: ``` xhost +local:* sudo docker run -it --rm -e DISPLAY=$DISPLAY \ --env="QT_X11_NO_MITSHM=1" \ --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \ --env="XAUTHORITY=$XAUTH" \ --volume="$XAUTH:$XAUTH" \ --runtime=nvidia \ --gpus all \ --privileged \ --net=host \ $USER/test_sim /bin/bash -c "terminator & terminator -e 'source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && ros2 launch ardupilot_gz_bringup iris_maze.launch.py rviz:=false;/bin/bash ' & \ terminator -e 'source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && ros2 launch ardupilot_ros cartographer.launch.py;/bin/bash' " ``` otherwise: ``` xhost +local:* sudo docker run -it --rm -e DISPLAY=$DISPLAY \ --env="QT_X11_NO_MITSHM=1" \ --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \ --env="XAUTHORITY=$XAUTH" \ --volume="$XAUTH:$XAUTH" \ --privileged \ --net=host \ $USER/test_sim /bin/bash -c "terminator & terminator -e 'source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && ros2 launch ardupilot_gz_bringup iris_maze.launch.py rviz:=false;/bin/bash ' & \ terminator -e 'source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && ros2 launch ardupilot_ros cartographer.launch.py;/bin/bash' " ``` start mavproxy ``` mavproxy.py --console --map --aircraft test --master=:14550 ``` Then parameters are set using mavproxy using the commands ``` param set AHRS_EKF_TYPE 3 param set EK2_ENABLE 0 param set EK3_ENABLE 1 param set EK3_SRC1_POSXY 6 param set EK3_SRC1_POSZ 1 param set EK3_SRC1_VELXY 6 param set EK3_SRC1_VELZ 6 param set EK3_SRC1_YAW 6 param set VISO_TYPE 1 param set ARMING_CHECK 388598 ``` Then, SITL simulation is restarted.