UAV Create Any Movement Easy Look
This repository provide a easy and safe way to command the UAV in the VICON room.
- Install dependent libraries
sudo apt install -y ros-$ROS_DISTRO-mavros sudo apt install -y ros-$ROS_DISTRO-vrpn sudo apt install -y ros-$ROS_DISTRO-vrpn-client-ros sudo apt install -y ros-$ROS_DISTRO-sophus
- Clone the packages into your catkin workspace and compile
(the following instructions assume your catkin workspace is at: ~/camel_ws/src)
mkdir -p ~/camel_ws/src cd ~/scout_ws/src git clone https://github.com/st88018/uavcamel.git cd .. catkin_make
- Source the workspace
source ~/camel_ws/devel/setup.bash
- Downloadn and install the PX4 (1.11.0)
git clone https://github.com/PX4/PX4-Autopilot.git cd PX4-Autopilot/ git checkout 71db090 git submodule sync --recursive git submodule update --init --recursive bash ./Tools/setup/ubuntu.sh sudo apt upgrade libignition-math2
- Launch the Simulation environment
(Gazebo)
(Jmavsim)
make px4_sitl_default gazebo
make px4_sitl_default jmavsim
- Launch Mavros
source ~/camel_ws/devel/setup.bash roslaunch uavcamel px4_sitl.launch
- RUN UAVCAMEL
rosrun uavcamel camel
-
Please make sure the path is correct at cammel.cpp line 54
string MissionPath = "/home/usr/camel_ws/src/uavcamel/src/utils/Missions/Mission.csv";
-
CSV file The Mission.csv is the preprogrammed mission file:
- TakeOff: TakeOff to a certain altitude and wait.
- constVtraj: UAV move toward the waypoint in constant velocity.
- AMtraj: UAV move through a series of waypoints using optimal AM_trajectory (All of the state3 will be connected together).
- RTL: UAV fly to the takeoff position with no altitude change.
- Land: UAV land vertically.
Mission Type | |||||||
---|---|---|---|---|---|---|---|
1.TakeOff | Z position | wait time(s) | |||||
2.constVtraj | X position | Y position | Z position | heading(rad) | velocity | angular vel | wait time(s) |
3.AMtraj | X position | Y position | Z position | heading(rad) | |||
4.RTL | heading(rad) | velocity | angular vel | wait time(s) | |||
5.Land | heading(rad) | velocity | angular vel |