Future work and improvements

Upgrade to ROS2 Jazzy

ROS2 Iron has reached EOL, expect more compatibility issues when adding more software. Be sure to check the compatibility of both T265 and D455 with Jazzy before upgrading. Note that the required Ubuntu version for Jazzy is 24.04 LTS.

Improve or cut MAVROS

Currently launching MAVROS could take anywhere from a few seconds to many minutes for unknown reasons. Consider removing some of the plugins that we know are unused (check px4.launch in the MAVROS repo). Alternatively, find a way to forward pose from T265 to Pixhawk without MAVROS. I have tried using the ROS2 topics that the XMicro XRCE-DDS publishes, however the Pixhawk did not consider them as valid.

T265 pose conversions to Pixhawk

The current way of finding the correct transformations to apply to the T265 pose data before sending it to MAVROS is messy, requiring multiple TF lookups with nodes waiting for each other to publish TF's. There should be a cleaner way to do this.

Make T265 and D455 boot more consistently

The T265 will ALWAYS require you to unplug and replug it before use. D455 also sometimes fails to boot automatically and requires a replug.

Find a better way to launch all the required nodes

The full_localization_stack.launch.py launch file is inconsistent. It is better to launch all the nodes one by one. However, this is tedious work, and there should be a better way to launch all the nodes.