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https://github.com/bwh1270/landing_simulation
This is not a standalone package.
https://github.com/bwh1270/landing_simulation
gazebo landing simulation tracking
Last synced: 29 days ago
JSON representation
This is not a standalone package.
- Host: GitHub
- URL: https://github.com/bwh1270/landing_simulation
- Owner: bwh1270
- License: mit
- Created: 2024-03-02T10:10:45.000Z (10 months ago)
- Default Branch: main
- Last Pushed: 2024-04-05T05:18:04.000Z (9 months ago)
- Last Synced: 2024-04-05T06:36:53.360Z (9 months ago)
- Topics: gazebo, landing, simulation, tracking
- Language: C++
- Homepage:
- Size: 184 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# landing_simulation
## Simulation
## How to use
1. clone the repositories in the your_workspace/src/.
```
git clone https://github.com/bwh1270/landing_simulation.git
git clone https://github.com/koide3/gazebo_apriltag.git
```
All of ApriltTag .png files is collected in https://github.com/AprilRobotics/apriltag-imgs.git.
2. Move the AprilTags to gazebo model directory.
```
cd landing_simulation/start/
chmod +x mv_tags.sh # or sudo chmod +x mv_tags.sh
./mv_tags.sh
```
3. Build the landing_simulation package
```
catkin build
```
4. Possible commands
```
roslaunch landing_simulation autonomous_landing.launch
rosrun landing_simulation ugv_vc_node
rosrun landing_simultion setpoint_publisher_node
rosrun landing_simulation recordData
```
## Node Descriptions
- SetpointPublisher - publishes the reference signal of velocity to UAV. I used only for velocity gains tuning.
- UGVVelocityControl - publishes the reference signal of velocity to UGV.
- recordData - records UAV and UGV data and saves them.
- AprilTagDetection - subscribes the output of apriltag_ros and publishes the relative position and velocity of UGV with respect to UAV in inertia frame.
- LinearKalmanFilter - subscribes the output of AprilTagDetection node and publishes the state estimate.
- PositionControl - subscribes the state estimate or ground truth of UGV by /odom and publishes the control input of velocity command to UAV.