TODO

1.add manage final land position 2.add px4 auto land function

SAFMC_tutorial

This repo is a ros workspace, containing SAFMC rospkgs:

• gazebo contains the gazebo model and world, and the launch files
• controller contains the px4 basic controller
• simtools contains the gazebo real pose launch files
• apriltag_ros contains the apriltag detection launch files

Note: If you are working on this project, it is necessary to intall XTDrone first !

Requirement

sudo apt-get install libeigen3-dev       
sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen

0. Apriltag

git clone https://github.com/AprilRobotics/apriltag.git
cd apriltag/
mkdir build
cd build
cmake ..
make
sudo make install

1. SAFMC

cd ~/
mkdir -p SAFMC/src
cd ~/SAFMC/src
git clone https://github.com/XinChen-stars/SAFMC.git
cd ..
catkin_make

2. Configure Gazebo

cd ~/SAFMC/src/SAFMC/gazebo
cp -r ./gazebo_models/* ~/PX4_Firmware/Tools/sitl_gazebo/models
cp ./gazebo_worlds/* ~/PX4_Firmware/Tools/sitl_gazebo/worlds
cp ./gazebo_launch/search_single_simulation.launch ~/PX4_Firmware/launch

3. Configure PX4

rm -rf ~/PX4_Firmware/build/px4_sitl_default/etc/init.d-posix/rcS
cp ~/SAFMC/src/SAFMC/PX4_EKF/rcS ~/PX4_Firmware/build/px4_sitl_default/etc/init.d-posix/
rm ~/.ros/eeprom/parameters*
rm -rf ~/.ros/sitl*

Usage

0. Gazebo

# Launch Gazebo World together with single drone
roslaunch px4 search_single_simulation.launch
# Launch Gazebo World together with swarm drone
roslaunch px4 search_swarm_simulation.launch

1. QGC

# Open QGC to monitor drone state
cd ~/your_QGC_path
./QGroundControl.AppImage

2. External Position

# Utilize the gazebo real pose
roslaunch simtools real_gazebo_pose.launch

3. PX4 Control

# Launch single drone px4 control
roslaunch px4_basic_ctrl px4_single_ctrl.launch
# Launch swarm drone px4 control
roslaunch px4_basic_ctrl px4_swarm_ctrl.launch

4. Apriltag detection

# Launch single drone apriltag detection
roslaunch apriltag_ros uav_detection_single.launch
# Launch swarm drone apriltag detection
roslaunch apriltag_ros uav_detection_swarm.launch