About

This repo is a platform for testing the Aruco Detection and landing alogirthm on the drone. This work uses sjtu_drone as a simulation platform. sjtu_drone is a quadrotor simulation program forked from ['tum_simulator'] (http://wiki.ros.org/tum_simulator) , which is developed with ROS + Gazebo.

Requirements

This package is compatible with ROS Melodic version (Ubuntu 18.04). Please refer the following for the 'installation' of ROS on your computer. Prefreable is ROS melodic with ubuntu 18.04 or ROS Noetic with Ubuntu 20.04.

Download and Compiling this package

$ cd ~/catkin_ws/src
$ git clone https://github.com/Avi241/aruco_detect.git
$ cd ~/catkin_ws
$ catkin_make

Run

The simplest way is calling after you have built the workspace successfully.

$ source ~/catkin_ws/devel/setup.bash
$ roslaunch aruco_detect simple.launch

Running with keyboard

In second terminal:

$ rosrun aruco_detect drone_keyboard

Steps

Press Z to takeoff. Now you can control your drone with keyboars as shown in the Gui

For Aruco Detection and landing

Go to location ~/catkin_ws/src/aruco_detect/scripts . Open the file sample_script.py now you can write your Aruco Detection and landing algorithms here in the main function of this code.\ Note : If your are using ROS Noetic change the 1st line of the code

#!/usr/bin/env python

#!/usr/bin/env python3

To run Aruco Detection and landing program

rosrun aruco_detect sample_script.py