MRS Precise Landing

Autonomous precise landing on an AprilTag.

Installation

For deployment: sudo apt install ros-noetic-mrs-precise-landing

For simulations: sudo apt install ros-noetic-mrs-precise-landing-gazebo

Dependencies

• apriltag_ros
• uav_core

Components

• AprilTag detector
• Landing Pad Estimator
• Precise Landing Controller
• Gazebo Resources for testing

Example simulation

roscd mrs_precise_landing_gazebo
./tmux/start.sh

How to use it

The default apriltag is an embedded tag (TagCustom48h12): with tag 0 (0.3 meter inner size) on the outside and 10 (0.06 meter inner size) on the inside. The total outside size of the tag is 0.5 meter. However, this can be easily changed in the config files.

You will need to prepare:

• config file for the april tag detector, e.g., apriltag.yaml
• camera node name, camera topic name (such that /$UAV_NAME/camera_node/camera_topic)
• the ids of the AprilTags need to be filled in the custom config for the estimator, e.g., landing_estimator.yaml
• how should the heading be controlled?, prepare the controller config, e.g., landing_controller.yaml

An example of how to start the nodes using the custom configs:

roslaunch mrs_precise_landing precise_landing.launch apriltag_config:=`rospack find mrs_landing_pad_estimation`/config/apriltag_recursive.yaml camera_node:=bluefox_optflow image_topic:=image_raw estimator_config:=<landing_estimator> controller_config:=<landing_controller>

When the AprilTag is in the view, call:

rosservice call /$UAV_NAME/precise_landing/land

To abort, call:

rosservice call /$UAV_NAME/precise_landing/abort