This is a project based on Pixhawk SITL, DRCSim and apriltag. The goal is to create a convenient simulation platform to test intelligent algorithms on quadrotors. It consists of a quadrotor, a vehicle with apriltag and a drcsim environment. The quadrotor is equiped with two cameras, one forward camera and one downward camera.
- Ubuntu 14.04
- ROS indigo
- Gazebo 4
# install prerequisite
## install mavros but from shadow repo to get latest version earlier
sudo sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu/ trusty main" > /etc/apt/sources.list.d/ros-shadow.list'
sudo apt-get update
sudo apt-get -y install ros-indigo-mavros ros-indigo-mavros-extras
## get rosinstall and some additional dependencies
sudo apt-get -y install python-rosinstall ros-indigo-octomap-msgs ros-indigo-joy ros-indigo-geodesy unzip ros-indigo-octomap-ros
## install control_toolbox
sudo apt-get install ros-indigo-control-toolbox
# install the git
mkdir -p quadrotor_platform/src
cd quadrotor_platform/src
catkin_init_workspace
git clone https://github.com/songrotek/CLDrone-Autonomous-Quadrotor-Simulation-Research-Platform.git
cd ..
catkin_make
# init simulation platform
roslaunch px4 gazebo_px4_polaris_tracker.launch
# init vehicle control
rosrun rqt_robot_steering rqt_robot_steering
# init image viewer
rosrun rqt_image_view rqt_image_view
There is a rostopic for the quadrotor's velocity control using body coordinate: /CLDrone/body_axis_velocity/cmd_vel
you can make a rosnode to publish quadrotor's velocity to this topic to control the quadrotor.
The camera topics are: /front_cam/camera/image /downward_cam/camera/image
it is easy to access the image and do any processing such as object detection.
me and Weiwei Kong
BSD Lisense