- Authors: Marius Beul, Josef Boerding, Erik Zimmermann
- Licence: BSD
- Introduction/Overview
The NIFTi UAV is an eight motor Microcopter carrying a 2D laser scanner, two cameras, an ultrasonic-, and a GPS-sensor. It is remotely controlled via a 2,4GHz system.
The data of the sensors can be processed on board or be transferred via WiFi over 2,4GHz or 5GHz to a remote access point.
For the NIFTi project the copter is used to transmit overview images of a disaster scenario to support the information and decision management of a rescue team.
This picture shows an overview of the internal modules and communication channels:
- Installation
This software is based on ROS Fuerte http://wiki.ros.org/fuerte. You need also the following packages:
- git [http://git-scm.com] (http://git-scm.com)
- hector_slam [http://wiki.ros.org/hector_slam] (http://wiki.ros.org/hector_slam)
You can get the sources by cloning the repository above:
git clone https://github.com/NIFTi-Fraunhofer/nifti_uav
The package nifti_uav and its dependencies is build with cmake/rosmake. You can find a tutorial for using cmake here http://www.youtube.com/watch?v=CLvZTyji_Uw.
To build the nifti_uav sources, make sure you have the nifti_uav package directory and its dependencies set correctly in your ROS_PACKAGE_PATH environment variable.
Then type into a console:
rosmake mosquito
rosmake mosquito_launchers
- Usage
To launch the ROS nodes on the UAV you have to run a roscore on the UAV and then just type:
roslaunch mosquito_launchers UAV.launch
Further documentation of how to handle the UAV you can find at https://github.com/NIFTi-Fraunhofer/nifti_uav/blob/master/doc/Flying%20the%20NIFTi-Mikrokopter.pdf.
- Report a bug
Please use the issue tracker https://github.com/NIFTi-Fraunhofer/nifti_uav/issues of github to report a bug.