Thanks for the reply!
My master thesis work includes controlling small drones, and using accelerated object detection. I have an Ultra96 board for that.
To control the drone, I intend to use ROS with the Pixhawk flight controller. I’m running into issues with setting up the RTPS bridge for ROS2 and PX4, that’s why MAVROS would be great, but that only works with ROS1. ROS1 Melodic would work fine, but it still uses Python2, and from what I understand PYNQ libs need Python3. ROS1 Noetic uses Python3, but it requires Ubuntu Focal.
I intend to use a PYNQ DNN overlay in one of the ROS nodes to detect the relative position of a specific object.
Given these, I either need to:
- Build a Focal based image for the board for ROS Noetic
- Build ROS Melodic with Python3 support for the board
- Build the ROS2-ROS1 bridge so I can use Melodic (ROS1) for drone control and Eloquent (ROS2) for managing PYNQ calls
- Get the RTPS bridge working on the board so I don’t need MAVROS at all
I’ve been trying #4 but it proves to be difficult, partially because of compatibility with aarch64 instead of amd64. I’m looking at other options now.
If I could get a Focal based PYNQ image it would make my life a lot simpler right now.