https://github.com/skp-1997/landing_on_moving_rover
This project intends to land a quad-copter on a moving rover using Visual Servoing
https://github.com/skp-1997/landing_on_moving_rover
controls cplusplus gazebo robotics ros2 visual-servoing
Last synced: 8 months ago
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This project intends to land a quad-copter on a moving rover using Visual Servoing
- Host: GitHub
- URL: https://github.com/skp-1997/landing_on_moving_rover
- Owner: skp-1997
- Created: 2023-05-07T22:24:38.000Z (over 2 years ago)
- Default Branch: main
- Last Pushed: 2023-05-09T04:39:16.000Z (over 2 years ago)
- Last Synced: 2025-01-02T14:34:54.888Z (10 months ago)
- Topics: controls, cplusplus, gazebo, robotics, ros2, visual-servoing
- Language: Python
- Homepage:
- Size: 1.21 MB
- Stars: 1
- Watchers: 1
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# Landing_on_Moving_Rover
This project intends to land a quad-copter on a moving rover using Visual Servoing.
# Demonstration
# Installation
Register on https://cps-vo.org/group/CPSchallenge to get access to pre-configured docker container with 3D graphics, ROS, Gazebo, and PX4 flight stack.
Or you can clone and build using https://github.com/Open-UAV/cps_challenge_2020.git
Apriltag & Apriltag_ros (v2 or v3) Install any dependencies for apriltag from https://github.com/AprilRobotics/apriltag_ros
[ Make sure you have made all necessary changes in the apriltag_ros to link it with the gazebo! ]
```
cd ~/catkin_ws/src
git clone --recursive https://github.com/AprilRobotics/apriltag_ros
git clone --recursive https://github.com/AprilRobotics/apriltag
```
Follow below instruction to clone and build the code
```
git clone https://github.com/skp-1997/landing_on_moving_rover.git
catkin build
```
# Running the code
Run the phase-1 world of gazebo using the command
```
roslaunch cps_challenge_2020 phase-2.launch
```
Run the scripts in ./scripts folder
```
python autonomous_landing.py
```
```
python move_rover.py
```
# Setup of apriltag_ros folder
1. Provide correct camera path of the quadcopter into the continuous_detection.launch file in ./apriltag_ros/launch/
2. Edit the settings.yaml and tag.yaml in ./apriltag_ros/config as per your apriltag
3. Add the continuous_detection.launch file in /cps_challenge/launch/phase-2.launch file, which will run the april_tag ros when you run the phase-2.launch
# Pre-requisites
1. Python 2.7
2. Ubuntu 18.04
3. ROS1 MELODIC
4. Gazebo 9.6
# Additional Content (Landing the drone on a rover moving in a straight line)
https://youtu.be/1oGakOXok2U