This is the repository for the uav challenge in forest: 森のドローン・ロボット競技会
mkdir <catkin_ws>
cd <catkin_ws>
wstool init src
wstool set -t src jsk_uav_forest http://github.com/JSKAerialRobot/jsk_uav_forest --git
wstool merge -t src https://raw.githubusercontent.com/JSKAerialRobot/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
- run in gazebo by autonomous perception and motion
- task1
$ roslaunch jsk_uav_forest_simulation forest_simulation.launch task_kind:=1
- task2
roslaunch jsk_uav_forest_simulation forest_simulation.launch task_kind:=2 circle_motion_times:=2
- task3
roslaunch jsk_uav_forest_simulation forest_simulation.launch task_kind:=3 target_num:=3
start by clicking the Send Topic button in the left-bottom corner of RVIZ
- run in gazebo by manual operation
$ roslaunch jsk_uav_forest_simulation forest_simulation.launch manual:=true
use terminal to operate the quadrotor
- integrated launch file in UAV
$ roslaunch jsk_uav_forest_common challenge.launch (same options with the above cases according to different tasks)
- 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.
- 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.
- start the task
$ rostopic pub /task_start std_msgs/Empty "{}"
$ roslaunch jsk_uav_forest_common result.launch
default data is the result from the gazebo.