Global planner ros2 version with documentation (simulation tested)

[ldg810]

The global planner in ros2 environment is ready.

This version is simulation tested.

However, I am currently writing documentation for launching global planner.

local_planner and safe_landing_planner still needs heavy contribution for making them work.

Please give me many recommendations and ideas to improve it.

[ytaskiran]

Hey @ldg810, how can we get more information about ROS2 migration for this project

[ldg810]

Hey @ldg810, how can we get more information about ROS2 migration for this project

Currently, my migration code is not merged into PX4-Avoidance repository. Thus, you can visit my branch ldg810:pr-ros2-global-planner and utilize it.

Only global planner is available for ROS2 environment.

The documentation is not completed but if you are familiar with PX4-ROS2 interface(using micrortps_client, mircortps_agent, etc..), you may understand the contents and do something with it.

You may look up PX4-ROS2 container here.
I made the container and Dockerfile for the container may very helpful to configure PX4-ROS2 environment.

[ytaskiran]

So, how can I contribute to the migration of PX4-Avoidance to ROS2? Is there any team working on this right now besides you? And what is the progress for the remaining such as local planner?

[TSC21]

So, how can I contribute to the migration of PX4-Avoidance to ROS2? Is there any team working on this right now besides you? And what is the progress for the remaining such as local planner?

On the same branch this PR is being applied to, the local planner was almost completely converted. But I stopped working on this around a year ago, with no plans to get back to it. AFAIK there's no one else working on this (at least directly in this repo). But the work can definitely be continue from the current state.

[stevedanomodolor]

Are there any work left porting this to ros2 @TSC21

[DronecodeBot]

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/obstacle-avoidance-on-ros2/32391/1