cerlab_uav

This package is for cerlab UAV team's autonomous drone.

Install Package

IMPORTANT! If you have not install Octomap, Realsese_Camera ROS, and MAVROS with PX4, please follow the link for installation.

After installing prerequsite packages, install this package:

cd ~/catkin_ws/src
git clone https://github.com/Zhefan-Xu/cerlab_uav

cd ~/catkin_ws
catkin_make

Usage

NOTE: Please set EKF2_AID_MASK to the approriate value (e.g. 280 for VIO).

I.Launch dual camera (l515 and t265) with mavros and octomap

roslaunch cerlab_uav mavros_l515_and_t265_octomap.launch

By far, you can enter position mode and control by transmitter to fly stably.

V. Simulation

Please follow the PX4 instruction to install simulation. To launch simulation (you can change parameters and arguments in the file),

roslaunch cerlab_uav uav_simulation