Assignment(ROS).txt

Autonomous drone in PX4 Gazebo simulation 

Control - own controller without using (/mavros/setpoint_position/*)
-> not sending topics /mavros/setpoint_position/local for control 
-> without falling 

px4 -> controller 
user make ->p-pi configuration

Localization - SLAM algorithms 
-> 3D/2D 
-> SLAM
-> Map Matching 

Path Planning (collision Avoidance Path)
- 3D/2D collision avoidance planner


rule 
- ros nodes -> origin to destination waypoint and return to the origin.
- do not change starting position
- can use QGC for arming and taking off.
- laptime 
- freference topic (the origin, goal points) -> topic : /scout/ground_truth/state_raw
- Tmux/Tmuxp


submit 
- video
- code
- ppt


==================================================================================
darpa_simaultion code 

~/catkin_ws/src
rosdep install --from-paths . --ignore-src –r –y
./darpa_sim/install_darp_sim_dependencies.sh

cd ~/catkin_ws && catkin_make_isolated
source devel_isolated/setup.bash

<example launch> 
cd ~/catkin_ws/src/darpa_sim && roslaunch ee478_submit_example.launch
roslaunch mavros px4.launch fcu_url:="udp://:14540@192.168.1.36:14557"
darpa_sim/simulation_drone/launch/ee478_darpa.launch

==================================================================================
hdl_graph_slam command

rosparam set use_sim_time true
roslaunch hdl_graph_slam hdl_graph_slam_400.launch
roscd hdl_graph_slam/rviz
rviz -d hdl_graph_slam.rviz