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Emulating AR drone 2 in Rviz

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Balaji-Gorantla edited this page Jul 5, 2017 · 3 revisions

Make sure you have installed tum_simulator as we will be using the urdf model given there.

roscd cvg_sim_gazebo
cd urdf
subl quadrotor_base.urdf.xacro

In the file change all instances of base_link to ardrone_base_link. This is currently a hack as now the drone will not be shown in the simulation. As soon as a better way is found wiki will be updated.

Launching Commands :

roslaunch ardrone_autonomy ardrone.launch
rosrun drone_application ardrone_teleop_key.py _aruco_front:=false
roslaunch cvg_sim_gazebo spawn_quadrotoer.launch
rosrun rviz rviz

Video Tutorials:

Go through the video tutorials on Emulating real ar drone in rviz

  1. Home
  2. Installation
  3. ArUco marker based stabalisation using PID
    1. Setting up the simulator
    2. ArUco marker pose detection
    3. PID tuning
  4. Aligning drone with the marker 1.Aligning with aruco marker 2.Aligning with whycon marker
  5. Setup ArUco mapping package
  6. Emulating AR drone 2 in Rviz
  7. Mapping a simulated environment using Turtlebot and octomap
    1. Turtlebot setup Gazebo ROS
    2. Creating 3D octomaps using Turtlebot
  8. 3D Navigation of Drone (Using MoveIt!)
    1. Setup MoveIt! for Drone
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