Add iris benchmarking #11626
Add iris benchmarking #11626
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Hi Nico, is this "generically" for benchmarking - ie this will be used for all benchmarking, or is it "benchmarking for obstacle avoidance". If the later, perhaps worth being more specific in names and docs - ie 1015_iris_avoidance_benchmarking or 1015_iris_avoidance_reference |
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Well, yeah, I'm not going to tell anyone how to use it or not. But I'm using it to benchmark obstacle avoidance. I'll rename it if you prefer, no biggie |
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@nicovanduijn this is a question out of curiosity on how your setup works: the iris model doesn't have s depth sensor. Where do you get the depth data from?
| if [ $AUTOCNF = yes ] | ||
| then | ||
| param set COM_OBS_AVOID 1 # enable obstacle avoidance | ||
| param set MPC_XY_CRUISE 5.0 # set maximum mission speed |
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This iris configuration is super similar to the one introduced here #10780 . I think we can unify them
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I'm attaching the depth sensor later in the actual benchmarking vehicle. Reason being that different avoidance algorithms might require different sensors to function, and I want to be able to compare them.
We can unify of course, just don't forget about the mavlink stream and the additions in Tools/sitl_gazebo
What is the value of this model upstream? |
The benchmarking suite will be public soon, and thus needs to work with upstream |
Just FYI this was more of a question - I don't know whether this is/was generally useful for benchmarking or has specific constraints that make it suitable for only specific cases. If the former then the old name was good. If the later, then the name should reflect the constraints. |
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Actually, I think I'm going to build on top of the model Martina just introduced - in order not to clutter the repository with a thousand vehicles. Thus, it will be called |
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This updates the submodule sitl_gazebo to include the iris_obs_avoid sdf model
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@mrivi Any thoughts now that the submodule is in? |
This PR adds the necessary SITL setup files for a new simulation vehicle used for benchmarking of Obstacle Avoidance.
Main difference to the regular
Irisis an additional MAVLink stream, which is needed in order to be able to use both MAVROS and the SDK.Depends on PX4/PX4-SITL_gazebo-classic#300