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Introduction

This is the repository for the uav challenge in forest: 森のドローン・ロボット競技会

how to compile

mkdir <catkin_ws>
cd <catkin_ws>
wstool init src
wstool set -t src jsk_uav_forest http://github.com/tongtybj/jsk_uav_forest --git
wstool merge -t src https://raw.githubusercontent.com/tongtybj/jsk_uav_forest/master/jsk_uav_forest.rosinstall
wstool update -t src
rosdep install -y -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO
catkin build

how to run program in simulation

  • run in gazebo:
$ roslaunch jsk_uav_forest_simulation forest_simulation.launch
  • run in gazebo by manual operation
$ roslaunch jsk_uav_forest_simulation forest_simulation.launch manual:=true
  • run in gazebo by autonomous perception and motion
$ roslaunch jsk_uav_forest_simulation forest_simulation.launch

start by calling a rosservice

$ rosservice call /task_start true

how to activate plannar

  • arg plannar means whether to add motion planning, arg collision means whether to add obstacle which will cause collision into simulation.
  • When adding obstacles, remember not to block the view from drone to red tree:
$ roslaunch jsk_uav_forest_simulation forest_simulation.launch plannar:=true collision:=true

forest challenge (using DJI M100 + DJI Guidance + Pointgrey Chameleon3 + Hokuyo UST20LX)

  1. integrated launch file in UAV
$ roslaunch jsk_uav_forest_common challenge.launch
  1. remote communication in UAV
$ roslaunch jsk_uav_forest_common communication2ground_station.launch UAV_IP:=10.42.0.1 GROUND_STATION_IP:=10.42.0.XXX

10.42.0.XXX is the IP address of you rmeote PC.
  1. remote communication in Remote PC
 roslaunch jsk_uav_forest_common ground_station.launch UAV_IP:=10.42.0.1 GROUND_STATION_IP:=10.42.0.XXX

10.42.0.XXX is the IP address of you rmeote PC.