drone_automation

Controller for drone automation using MAVROS

Files

• controller.py: Contains core controller class
• waypoint.py: Waypoint controller class for drone to traverse a list of points
• utils.py: A collection of utility functions for converversion, unwrapping etc,

Requirements

• ROS
• MAVROS
• PX4 Firmware
• PX4 Gazebo for MAVLink

Usage

Default PX4 Empty World

To test in the default px4 empty world first run:

$ roslaunch px4 mavros_posix_sitl.launch

Then in a seperate terminal:

$ python waypoint.py

Warehouse world with lidar or camera

To use the either the iris_fpv_cam model or iris_rplidar model, follow this procedure -

Note: You will need to replace <path_to_Firmware> with the approproate path in the commands below.

1. Copy the required launch files into the px4 package:

$ cp launch/* <path_to_Firmware>/launch/

2. Copy the required world files into px4 package:

$ cp world/* <path_to_Firmware>/Tools/sitl_gazebo/worlds/

3. Copy the required rviz files into px4 package:

$ mkdir -p <path_to_Firmware>/Tools/sitl_gazebo/rviz/
$ cp rviz/* <path_to_Firmware>/Tools/sitl_gazebo/rviz/

4. Launch the desired configuration:

$ roslaunch px4 test_iris_fpv_cam.launch

or

$ roslaunch px4 test_iris_rplidar.launch

5. Run the waypoint controller:

$ python waypoint.py

The camera / lidar topics should be displayed in RViz

TODO

• Add waypoint controller
• Use setpoint_velocity with proportional control
• Incorporate obstacle detection using LIDAR / Camera

Resources

• GAAS (Generalized Autonomy Aviation System) Guide
• PX4 Development Guide MAVROS Example