This is a ROS package for non-gps navigation for ardupilot containing all the required files and listed dependencies. This also contains a file from thien94/vision_to_mavros to set origin.
Detailed description of the project and setup: Ardupilot Docs - Cartographer
This package contains all the modified files for the following packages:
mavros
cartographer_ros
robot_pose_publisher
navigation
ap_navigation: https://github.com/ArduPilot/companion/tree/master/Common/ROS/ap_navigation
Important PRs: mavlink/mavros#1780
Ubuntu version 18.04 or 20.04
ROS Melodic or Noetic
On the ardupilot latest stable, run:
source ~/ardupilot/Tools/environment_install/install-ROS-ubuntu.sh
This will install the whole ardupilot-ros environment and install all the requirements.
This package contains a main launch file launching all the required launch files in a go.
Simply,
cd <ros_ws>/src/
git clone https://github.com/snktshrma/ardupilot_ros
cd ..
rosdep install --from-paths src --ignore-src -r -y
cd ardupilot_ros
catkin build
roslaunch ardupilot_ros gzbo.launch #for quadrotor
or
roslaunch ardupilot_ros gzbo_rover.launch #for rover
../Tools/autotest/sim_vehicle.py -f gazebo-iris
or
sim_vehicle.py -v APMrover2 -f gazebo-rover -m --mav10 -I1
roslaunch ardupilot_ros main.launch