Indoor Drone Navigation System
Instruction to start ardrone autonomy #Installation steps
-
Go to website: https://github.com/eborghi10/AR.Drone-ROS
- This website is tum simulator on kinetic
- Installing steps: mkdir -p ~/ardrone_simulator/src cd ~/ardrone_simulator/src catkin_init_workspace git clone https://github.com/iolyp/ardrone_simulator_gazebo7 cd .. catkin_make
- Start steps source devel/setup.bash roslaunch cvg_sim_gazebo ardrone_testworld.launch
-
Go to website: https://github.com/AutonomyLab/ardrone_autonomy-release
- Find the corresponding version of ROS
- eg. Kinetic: website: https://github.com/AutonomyLab/ardrone_autonomy
- Donwload this file and store into the src file of the workspace
- Using catkin_make compile this file
- Find the corresponding version of ROS
-
Go to website https://github.com/justagist/pid_control_ardrone
- Download master file and store it into the workspace's src file
- Compile it
#Control the quadrotor vehicle on the simulator
#1. Start the simulator
cd
cd ardrone_simulator
source devel/setup.bash
roslaunch cvg_sim_gazebo ardrone_testworld.launch
#2. Start the simulator control
cd
cd ardrone_simulator
source devel/setup.bash
cd src/pid_control_ardrone-master/pid_ardrone/src
./sim_controller.py
#3. Start the keyboard control
cd
cd ardrone_simulator
source devel/setup.bash
cd src/pid_control_ardrone-master/ardrone_joy/scripts
./ardrone_joy_keyboard.py
#4. Track the trajectory of the drone by keyboard
cd
cd ardrone_simulator
source devel/setup.bash
cd src/pid_control_ardrone-master/ardrone_joy/scripts
./plot.py
#4 Track the trajectory of the drone drive by controller
cd
cd ardrone_simulator/src/pid_control_ardrone-master/pid_ardrone/src
./plot.py
#-2 Using ifconfig check the ip address
#-1 connect to drone wifi
#0 roscore
#0.1
cd
cd ardrone_simulator
source devel/setup.bash
roslaunch ardrone_autonomy ardrone.launch
#1. ################not need
cd
cd ardrone_simulator
source devel/setup.bash
cd src/pid_control_ardrone-master/mocap_odometry/scripts
./mocap_odometry.py
#2.
cd
cd ardrone_simulator
source devel/setup.bash
cd src/pid_control_ardrone-master/pid_ardrone/src
./controller.py
#3.
cd
cd ardrone_simulator
source devel/setup.bash
cd src/pid_control_ardrone-master/ardrone_joy/scripts
./ardrone_joy_keyboard.py
#python ardrone_joy_keyboard.py
#4. Track the trajectory of the drone
cd
cd ardrone_simulator
source devel/setup.bash
cd src/pid_control_ardrone-master/ardrone_joy/scripts
./plot.py
#Way to check the node-topic graph 1. rosrun rqt_graph rqt_graph
#Open camera: http://wiki.ros.org/tum_simulator #1 # The output camera rosrun image_view image_view image:=/ardrone/image_raw
# The front camera
rosrun image_view image_view image:=/ardrone/front/image_raw
# The buttom camera
rosrun image_view image_view image:=/ardrone/bottom/image_raw
# The height sensor
rostopic echo /sonar_height
#The navigation info
rostopic echo /ardrone/navdata
#A launch file for joystick drivers and image view nodes
roslaunch cvg_sim_test demo_tool.launch
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