Optimal Rapidly exploring Random tree(RRT*) for path palnning in 3D space for Quadrotors
The aim of our project is to implement the path planning algorithm presented in the paper “RRT-based 3D Path Planning for Formation Landing of Quadrotor UAVs” and upgrade the path planning algorithm to an optimised RRT* algorithm and simulate the Quadrotor motion in Gazebo using ROS
Simulation Demo
Authors
Installation
Mavros installation
sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras
source this->
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh
For initiating mavros to px4 connection
roslaunch mavros px4.launch fcu_url:="udp://:14540@192.168.1.36:14557"
For PX4
Download and source this script ->https://raw.githubusercontent.com/PX4/Devguide/v1.8.0/build_scripts/ubuntu_sim_ros_gazebo.sh
git clone https://github.com/PX4/Firmware.git
To launch PX4->
cd <Firmware_clone>
make posix_sitl_default gazebo
source ~/catkin_ws/devel/setup.bash // (optional)
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/posix_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
roslaunch px4 posix_sitl.launch
Create a ROS package and run this python file
python missionfly2.py