Athena

Athena is a hexacopter made for National Flying Robot Competition 2019 with a mission to drop 7 payloads at certain locations autonomously with the help of computer vision.

Getting Started

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.

Prerequisites

What things you need to install on the vehicle's onboard PC

• Ubuntu 18.04
• OpenCV 3 - Library for computer vision
• ROS Melodic - Framework used
• Mavros - The mavros ROS package enables MAVLink extendable communication
• Imutils Package - Enhance CV performance
• ROS PID Package - Plug and Play PID Package for ROS
• Arduino IDE - Used to program payloads dropping mechanism
• Rosserial Arduino Package for communication between ROS and Arduino

How To Build

Go to your catkin_workspace/your_src folder

git clone https://github.com/yosralism/athena.git
cd athena
source devel/setup.bash
catkin build

Running the tests

Connect your ground station (laptop) to the vehicle's onboard PC with WiFi router via ssh

ssh device_name@ip_address

example

ssh odroid@192.168.1.105

Checking up servo mechanism

roslaunch athena servo_test.launch

Run the full mission test

roslaunch mavros apm.launch

Open new terminal

roslaunch athena athena_guided.launch

Important to check:

• Flight mode
• Waypoint reach

For checking target detection value, open new terminal

rostopic echo /cv_target