- ROS Melodic on Ubuntu 18.04 or ROS Kinetic on Ubuntu 16.04.
- Python catkin-tools
- OpenCV - Computer Vision library
- Boost - C++ library
- Create a ROS workspace
mkdir -p ~/catkin_ws/src
cd catkin_ws
catkin_init_workspace
- Clone this repository in your ROS workspace recursively along with the submodules
cd ~/catkin_ws/src
git clone --recurse-submodules -j8 https://github.com/mihirk284/SES_Group_Repo
- Build your packages
cd ~/catkin_ws
catkin build
Try launching a sample test launch file
roslaunch rotors_gazebo mav_hovering_example.launch
You should see a drone hovering some distance above the ground in your Gazebo simulator.
Launch your drone in a Gazebo environment
roslaunch rotors_gazebo mav_hovering_example.launch
Visualise the camera feed in RViz
rosrun rviz rviz
Click on "Add" and add the camera topic, you'll see a camera feed of the environment in which the drone is. Launch the YOLO object detector.
roslaunch darknet_ros yolo_v3.launch
Try placing some objects like the aeroplane, table, turtlebot in the Gazebo environment in front of the camera and you'll see YOLO detecting it with a bounding box around that object.