fairf4x/rosplan_interface_quadrotor

Simple demo interface for hector quadrotor.

ROSPlan_interface_quadrotor

This package implements a simple interface for hector_quadrotor to ROSPlan.

It features simple planning domain with three operators takeoff, land and flysquare to demonstrate ROSPlan connection to quadrotor drone.

Installation

Get the prerequisites:

(for Indigo) Install ROSPlan according to instructions.

Install hector quadrotor demo package:

sudo apt-get install ros-indigo-hector-quadrotor-demo

Get the code:

cd src/
git clone https://github.com/fairf4x/ROSPlan_interface_quadrotor.git

Compile everything:

source /opt/ros/indigo/setup.bash
catkin_make

Running the demo

Start rviz and gazebo:

roslaunch rosplan_interface_quadrotor test_quadrotor_plan.launch

Initialize KnowledgeBase:

roscd rosplan_interface_quadrotor/common/scripts/
sh init_demo.sh

Expected output:

The quadrotor will takeoff, fly square and land.