Hi, I’m working on drive my ASV (differential drive catmaran, pixhawk, ardurover, raspberry pi) with ROS.
I want to confirm that /mavros/global_position/local is the current X-Y position, in ECEF coordinate and with origin in the home position. I mean, using this topic I can know the ASV position relative to the home position.
I want to confirm that using /mavros/setpoint_velocity(_position, I don’t remember wich one is correct)/cmd_vel I can gives velocity commands to the boat.
and finally I would like to confirm tha GUIDED mode is the one used to drive the boat with mavros and that I need to publish to cmd_vel topic at some rate before passing to GUIDED mode.
What would it be the job needed to connect ardupilot in SITL with a boat in gazebo? I’m using some boats simulators, under gazebo, with ROS integration and it could be very interesting to have it working with ardupilot stack
I haven’t worked on the Arduboat in a year so I have a hard time recalling the issues we had. I initially setup a companion computer running ROS and had issues with ArduRover when frame_class=2 (arduboat) but had no issues using rover frame class. I’ll be working on a new ArduBoat running ROS in the next month so let me know how it goes. Probably a ROS node issue not recognizing ArduBoat frame class.