Final Project

The packages for 2021-AerialRobotics Final Project.

1. Rotor_simulator : UAV simulation using Geometric Controller

2. Husky : Ground Vehicle for assisting UAV challenge

   • Navigation
   • Localization
   • SLAM

3. Apriltag : For localization

Requirements

• Ubuntu 18.04 ros-melodic
• gazebo greater than 9.0

sudo apt-get install ros-melodic-joy ros-melodic-octomap-ros ros-melodic-mavlink python-wstool python-catkin-tools protobuf-compiler libgoogle-glog-dev ros-melodic-control-toolbox
sudo apt-get install python-cvxopt
//or
sudo pip install cvxopt

Additional package

Rotor_simulator

This is a Gazebo simulation package for ros 18.04. The package is migrated from the rotorS.

sudo apt-get install ros-melodic-ompl
sudo apt-get install ros-melodic-mavros
sudo apt-get install ros-melodic-mavros-extras 
sudo apt-get install ros-melodic-mavros-msgs
sudo apt-get install libompl-dev
cd /opt/ros/melodic/lib/mavros
sudo ./install_geographiclib_datasets.sh

Husky

sudo apt-get install ros-melodic-husky-simulator

Running

Spawn husky and quadcopter

roslaunch rotors_gazebo challenge.launch 

Run

roslaunch rotors_gazebo control_challenge.launch