NOTE: The code in this repository is being updated/uploaded and only initial versions of some of the ROS nodes are available at the moment. For details about the full implementation (will be available soon), please visit our website at:

https://tiers.utu.fi/paper/qingqing2021adaptive

Adaptive lidar tracking

Tracking MAVs from ground robots with adaptive lidar scan integration

Summary

TO DO

Installation

TO DO

Run it

Tello Motion Start

The tello_motion node is a simple ROS node that uses UWB positioning as feedback for predefined Tello trajectories. This sample version will perform a circle. Rut it with:

roslaunch adaptive_lidar_tracking tello_motion.launch

Parameters include:

position_topic: "/dwm1001/tag/XXXX/position"         
drone_cmd_topic: "/tello/cmd_vel" 
takeoff_height: 1.0 
drone_speed: 0.6

For the UWB positioning node that publishes the Tello position to the position_topic, please refer to the passive UWB node in:

https://github.com/TIERS/ros-dwm1001-uwb-localization

Contact

For any questions, write to jopequ@utu.fi, qingqli@utu.fi, or xianjia.yu@utu.fi.