Urgent: ROS Developer for MAVROS-PX4 Drone Navigation & Obstacle Avoidance Task

Project Overview: We are seeking an experienced ROS developer with expertise in C++, MAVROS, and PX4 to write a node that allows a drone, equipped with a depth sensor, to navigate a grid while avoiding obstacles in [login to view URL] selected candidate must deliver within a maximum of 5 days. Skills: C++ ROS1 MAVROS PX4 Gazebo Simulation Drone Programming Pathfinding Algorithms (e.g., A* or RRT*) Desired Mission Summary: In an unknown environment, the drone must autonomously take off and, once in OFFBOARD mode, follow a set sequence of waypoints. Using its onboard processor and depth sensor, it should compute a point cloud in real-time. As it approaches each waypoint, the drone should compare its actual position with the expected position. It should then determine if the next waypoint is obstructed. If so, it skips to the subsequent waypoint. This cycle continues, with the drone employing efficient pathfinding algorithms (e.g., A* or RRT*) to navigate around obstacles. The mission concludes once the drone has traversed the entire grid and returned to its starting position. Detailed Requirements: 1. Initial Behavior: Upon launch, the drone takes off and hovers in place. 2. Obstacle Mapping: Use the depth sensor to build an occupancy grid map. Tools like Octomap can be used, but we are open to alternatives. 3. Grid Search: The drone must follow a grid search pattern (Lawn mower pattern) 4. Obstacle Detection: At every waypoint, check for obstacles before moving to the next waypoint using the data from the depth sensor. 5. Path Planning: If a waypoint is occupied, skip it. If free, plan a smooth, optimal (or sub-optimal) path, avoiding obstacles. 6. End Behavior: Upon completing the grid search, the drone should return to its starting position while avoiding obstacles. Tools and System Requirements: Ubuntu 20.04 ROS Noetic (ROS1) MAVROS PX4 C++ Deliverables: 1. Complete source code for a ROS package that performs the outlined mission. 2. A Gazebo simulation demonstrating the drone successfully performing the desired mission. We will further validate the code on our local machine (Ubuntu 20.04 & ROS Noetic) before finalizing the project. Suggested Approach: Consider leveraging the PX4-Avoidance package. However, it's worth noting this package isn't actively maintained. For simulation purposes, use an Iris drone with a depth sensor in Gazebo. The environment should contain basic obstacles like cylinders and spheres. To be considered for this task, please: Provide examples of your past ROS/C++ projects, especially any relating to drones or obstacle avoidance. Outline your familiarity with the tools and systems mentioned. Estimate the time frame for project completion. You will be asked to answer the following questions when submitting a proposal: Can you share a sample of a similar project you've worked on in the past? Given the urgency, can you commit to delivering within one week? Can you provide a brief plan of action on how you intend to tackle this task?