Implement autopilot to Parrot AR.Drone to allow it to move from point A to point B avoiding all the obstacles.
First you need to install ROS to use this SUMMARY project. The version we use is fuerte. Just follow the instructions on the webpage (tip: there is a link to download a virtual machine for virtualbox with ROS already installed) If you choose to install on your own OS (not with virtualbox), just follow the instructions, and install the desktop-full version of ROS.
You can take a look to some tutorials to understand what is ROS and what it's made of.
It's the driver to interface the ARDrone with ROS. Info is here
# install dependencies
sudo apt-get install libblas-dev
sudo apt-get install liblapack-dev
# cd into ros root dir
roscd
# install package from git
rosws set tum_ardrone --git https://github.com/tum-vision/tum_ardrone.git
rosws update tum_ardrone
#In the file Navata.msg in the folder ardrone_autonomy/msg Add this lines :
#motor commands (unit 0 to 255)
uint8 motor1
uint8 motor2
uint8 motor3
uint8 motor4
# build package (may take up to 10 minutes)
rosmake tum_ardrone
# run driver
rosrun ardrone_autonomy ardrone_driver
# if package ardrone_autonomy is installed but unknown command
# to do only the first time!
roscd
rosws set ardrone_autonomy/
# run stateestimation node
rosrun tum_ardrone drone_stateestimation
# run autopilot node
rosrun tum_ardrone drone_autopilot
# run gui node
rosrun tum_ardrone drone_gui
-
gpsd
(from standard repos:apt-get install gpsd
) -
gpsd_client
: http://wiki.ros.org/gpsd_clientFirst install libgps-dev, which is a dependency of this package (
apt-get install libgps-dev
). Then do the following:cd ~/fuerte_workspace/sandbox #or wherever you want in your workspace #choose the corresponding branch, here it's the fuerte version of the package git clone -b fuerte_released https://github.com/ktossell/gps_umd.git rosstack profile && rospack profile rosws set gps_umd #re-source your setup.bash rosmake gps_umd
-
ar_track_alvar
: http://wiki.ros.org/ar_track_alvar -
bosch_driver
:apt-get install ros-fuerte-bosch-driver