Over the past few days @tridge has added support for the Morse robotics simulator which uses the Blender game engine to produce high quality 3D renderings of the environment. It also supports many different sensors including 360 lidar so this will be a good testing environment for work on object avoidance.
I’ve managed to get Morse running natively in Windows. Required a few patches though (see https://github.com/stephendade/morse/tree/winfix). Full details for the build are in the “winbuild.bat” file in the repo - it’s a bit tricky requiring the exact same python version in Blender and the user’s system.
Besides the patches, I’ve noticed that Morse doesn’t appear to be sending proximity sensor data to Ardupilot and the camera controls are a bit … wild.
I spent quite a bit of time yesterday trying to make dodge work with the proximity sensors. I suspect I got it working as well as it does with regular lidar but it still doesn’t work well. The real solution is to have an AC_Avoid::adjust_waypoint that shifts the target around so that the vehicle avoids obstacles. This is pretty much what Tridge & Co’s OBC avoidance library does.
@Arny1719, I’ve heard of at least one person attempting to do autonomous powerline inspection with AP but they were doing the powerline recognition outside of AP. So AP doesn’t include that part but certainly the flying part it can do.