This repository holds the ros package for the Autopilot of our Quadrotor Project
Package name: autopilot
Node name: autopilot_node
Topics its subscribes to:
*/ardrone/bottom/image_raw : For the camera
*/ardrone/navdata : For the quad altitude
*/autopilot/command : To publish commands for the autopilot (std_msgs/String)
*/autopilot/cmd_vel : To publish manual velocity to the quad which overrides the autopilot (geometry_msgs/Twist)
*/autopilot/coordinate : To publish target grid coordiate for grid following (geometry_msgs/Point32)Topics its publishes to:
*/ardrone/takeoff
*/ardrone/reset
*/ardrone/land
*/quad/cmd_vel
Autopilot commands:
to : Take off
ld : Land
reset : Reset the quad and autopilot
holdalt : Go to and hold a defined altitude
up/down : Increase or decrease the holding altitude by 50cm
holdnode : Go to the nearest node and hold over it
stopholdalt : Stop holding altitude
stopholdnode : Stop holding node
grid : Enable grid follow
stopgrid : Disable grid follow
of : Autopilot master off
Example: Basic run for grid following to reach 3,2 node taking nearest node as origin
rostopic pub -1 autopilot/command std_msgs/String "to"
rostopic pub -1 autopilot/command std_msgs/String "holdalt"
rostopic pub -1 autopilot/command std_msgs/String "holdnode"
rostopic pub -1 autopilot/coordinate geometry_msgs/Point32 -- 3 2 0
rostopic pub -1 autopilot/command std_msgs/String "grid"