/tester

Primary LanguageC++

Coverage Drone

This repository contains source code for a simulation containing a drone for autonmous mapping of an area.

Using this Repository

Drone Coverage Multi Robots

roslaunch coverage_drone multi_drone_coverage.launch

Launch Files

  • Bring drone in forests ( brings drone and world in Gazebo )
roslaunch coverage_drone drone_in_forest.launch
  • Bring drone with Move_base integeration and Rviz with Gmapping 2D ( Drone ready to take Movebase Commands for Navigation )
roslaunch coverage_drone 2D_scan_with_movebase.launch
  • Bring drone with Move_base integeration and Rviz with OctoMap 3D
roslaunch coverage_drone 3D_scan_with_movebase.launch

Nodes

  • Make the drone Hover (Fly drone to a specific height )
rosrun coverage_drone hover_drone.py
  • Moving Drone with co-ordinates
rosrun coverage_drone move_base_goals.py
  • Drive Drone using teleoperation keyboard ( manual Driving )
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Software Requirments

  • Ubuntu 20.04

  • ROS Noetic

  • Install package dependencies

sudo apt-get install ros-noetic-move-base
sudo apt-get install ros-noetic-hector-gazebo-plugins
sudo apt-get install ros-noetic-navigation
sudo apt-get install ros-noetic-geographic-msgs
sudo apt-get install ros-noetic-map-server
sudo apt-get install ros-noetic-amcl
sudo apt-get install ros-noetic-slam-gmapping
sudo apt-get install ros-noetic-slam-toolbox
pip install scipy

Resources