This repository contains ROS packages for autonomous landing of an MAV on a moving platform.
Installation instructions
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
wstool init
git clone https://github.com/AerialRobotics-IITK/ariitk_auto_landing
wstool merge ariitk_auto_landing/install/install_https.rosinstall
wstool update
catkin build
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt-get install ros-melodic-husky-simulator ros-melodic-eigen-conversions
export HUSKY_GAZEBO_DESCRIPTION=$(rospack find husky_gazebo)/urdf/description.gazebo.xacro
If you want to use the keyboard to control the husky, you need to execute this command to install it
sudo apt-get install ros-melodic-teleop-twist-keyboard
Run the simulation using
mon launch auto_landing autonomous_landing_sim.launch
The parameters that can be set in the autonomous_landing_sim.launch file
- mav_name: Name of the MAV to be used in the RotorS simulation.
- x: x coordinate of spawn point of husky
- y: y coordinate of spawn point of husky
- publish_visualization_marker: When tracking using trajectory generation, whether to use rviz to visualize the generated trajectory
- use_detection(experimental): Use detection to calculate the odometry of the platform
- use_odometry_for_platform: Use odometry instead of gazebo/model_states
- use_wind: Add wind to the
- trajectory: Specify the trajectory of the platform. Possible values are given in launch file.
For more info, please refer the wiki.