MAVISS

MAVISS is an open-source Micro Aerial Vehicle (MAV) for precision infrastructure inspection, featuring high-resolution cameras, LiDAR, GPS, and NVIDIA Orin board for autonomous operations. This repository, maviss, contains the full software stack required to operate the MAVISS drone, including:

• ROS 2 packages
• 3D description packages
• Sensor integration packages
• Flight control configurations

Repository Structure

maviss/
 misc/                 # Miscellaneous files
 maviss_description/   # URDF and robot model
 .
 .
 (More to be added)
 README.md

Status

Component	ROS 2 Humble Compatibility	Status
maviss_description	🚧 Under	🚧 Under

• ✅ Tested & Working: Fully functional with ROS 2 Humble.
• 🛠️ In Progress: Partially tested, might need refinements.
• ❌ Not Yet Tested: No testing has been performed yet.
• ⚠️ Experimental: Works but might be unstable.
• 🚧 Under Development: Not ready for deployment.

Installation

1. Build Livox-SDK2 in '[work_space]/src/' folder

   git clone https://github.com/Livox-SDK/Livox-SDK2.git
   cd ./Livox-SDK2/
   mkdir build
   cd build
   cmake .. && make -j
   sudo make install

2. Clone the Livox ROS Driver2 in '[work_space]/src/' folder

   git clone https://github.com/Livox-SDK/livox_ros_driver2.git

3. Install Sophus

   sudo apt install ros-$ROS_DISTRO-sophus

4. Clone the repository:

   git clone git clone --recurse-submodules -b dev/maviss_description https://github.com/your-username/maviss.git

5. Install dependencies:

   cd 'path/to/your_ws/'
   sudo apt update && sudo apt install -y ros-${ROS_DISTRO}-ros-base
   rosdep install --from-paths src --ignore-src -r -y

6. Build the Livox ROS Driver2 in '[work_space]/src/livox_ros_driver2/' folder

   cd livox_ros_driver2
   source /opt/ros/humble/setup.sh
   ./build.sh humble

7. Build the workspace:

   colcon build
   source install/setup.bash