Autonomous Indoor Drone with Cartographer SLAM based on optical flow, LiDARs for indoor exploration.

[@giorgiolelmi8175]

Quick question here, do you know if it is possible to install ROS, ROS2 or gazebo on a raspberry? I've been trying to do that for a while, but haven't succeeded

[@yt3dkraft]

You can build ROS Noetic on Raspberry OS Buster 32 Bit (not supported for Bullseye) but i would not recommend to go that way as it will mean that also almost any ROS package and there dependencies also must be built from scratch. I would recommend to install Ubuntu MATE (20.04 for ROS Noetic or 22.04 for ROS2) 64 bit on RPi (4B or CM4). There are also ways to get the Pi Camera v2 running with V4L2 on MATE. Then you can install ROS packages using apt.

[@giorgiolelmi8175]

Oh, okay. Thank you very much. I think I'm going to try the Ubuntu OS.

[@sathviknag9645]

Hey do you have a simulation for this and code repository

[@davudsuleymanov1622]

It is not clear from the video exactly where the lidar is positioned. Could you give some more detailed information about the lidar you used, like model?

[@karun427]

Hello there, this is a very impressive work. could you please tell me how you managed to send velocity commands to the flight controller from the companion computer. I would like to know more about the Flight modes used. Thank you.

[@yt3dkraft]

The drone's flight controller needs to be in guided mode. There are MAVLink commands, that allow movements with velocity vectors in the NED (north, east, down coordinate system relative to the drone body).

[@ekrembahayilmaz]

hi can you give me the name of the motor you used in the drone