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Sensor Drivers

This step is manual and depends on the specific sensors installed on the UAV. Refer to the UAV proposal document for the full list of sensors.

Some sensors may have ROS2 drivers available, while others may require custom installation. You can check at MRS Sensors (https://ctu-mrs.github.io/docs/sensors/) for commonly used sensors and their ROS2 packages.

Installation​

Install the drivers for all onboard sensors as specified in the proposal. Common sensor types include:

  • Cameras (USB, GigE, MIPI, etc.)
  • LiDARs (Ouster, Livox, etc.)

Install any additional client-specified software packages (SLAM, collision avoidance, etc.).

Verification​

After installing drivers, verify that each sensor is producing expected output:

# Example: check a ROS2 topic for camera images
ros2 topic list | grep camera
ros2 topic hz /camera/image_raw

# Example: check LiDAR point cloud
ros2 topic list | grep points
ros2 topic hz /ouster/points

Ensure all sensors publish data at their expected rates before proceeding.

Camera Setup​

If the UAV has cameras: