https://github.com/jaeyoung-lim/mavros_humantracking

Offboard gimbal control for PX4 enabled vehicles using MAVROS
https://github.com/jaeyoung-lim/mavros_humantracking

drone gimbal mavros px4 tracking vmount

Last synced: about 2 months ago
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Offboard gimbal control for PX4 enabled vehicles using MAVROS

• Host: GitHub
• URL: https://github.com/jaeyoung-lim/mavros_humantracking
• Owner: Jaeyoung-Lim
• License: bsd-3-clause
• Created: 2019-06-04T13:12:55.000Z (over 5 years ago)
• Default Branch: master
• Last Pushed: 2020-11-08T22:42:21.000Z (about 4 years ago)
• Last Synced: 2024-10-15T02:35:01.183Z (2 months ago)
• Topics: drone, gimbal, mavros, px4, tracking, vmount
• Language: C++
• Homepage:
• Size: 5.87 MB
• Stars: 34
• Watchers: 2
• Forks: 17
• Open Issues: 3
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# mavros_humantracking

[![Build Test](https://github.com/Jaeyoung-Lim/mavros_humantracking/workflows/Build%20Test/badge.svg)](https://github.com/Jaeyoung-Lim/mavros_humantracking/actions?query=workflow%3A%22Build+Test%22)

`mavros_humantracking` is a package enabling image based object tracking with a gimbal attached to a drone. It uses the `MountControlPlugin` in [mavros](https://github.com/mavlink/mavros)

![multiuavsitl](mavros_humantracking/resource/humantracking.gif)

## Nodes

- humantracking_controller

    - Subscribed Topics

        - `~point_of_interest` ([geometry_msgs/PointStamped](http://docs.ros.org/api/geometry_msgs/html/msg/PointStamped.html))

            Point where the gimbal should be pointed at

## Simulating multiple vehicles

Multiple vehicles can be simulated with the following launcfile

```

roslaunch humantracking_controller multi_sitl_humantrack_circle.launch

```

![multiuavsitl](https://user-images.githubusercontent.com/5248102/87854473-8ec39c80-c912-11ea-946d-a3b9a062e97f.gif)