st88018/uavcamel

Create any movement easy look

UAVCAMEL

UAV Create Any Movement Easy Look

Packages

This repository provide a easy and safe way to command the UAV in the VICON room.

Basic usage of the ROS packages

1. 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
   

2. 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
   

3. Source the workspace

   source ~/camel_ws/devel/setup.bash
   

Play UAVCAMEL in PX4 Software Simulation

1. 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
   

2. Launch the Simulation environment (Gazebo)

   make px4_sitl_default gazebo
   

   (Jmavsim)

   make px4_sitl_default jmavsim
   

3. Launch Mavros

   source ~/camel_ws/devel/setup.bash
   roslaunch uavcamel px4_sitl.launch
   

4. RUN UAVCAMEL

   rosrun uavcamel camel
   

UAVCAMEL Misson documentation

3. 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";
   

4. 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