Aircraft_Landing_Verification

Require Packages

squaternion

Installation Instruction

Create an empty directory with any name aircraft_landing in thie example. In the folder run command

git clone https://github.com/yixjia/Aircraft_Landing_Verification.git src

to clone the repo. Then go to the cloned directory and run command

cd src

# Currently under src folder 
git submodule init
git submodule update

to update all required submodules. Then in the aircraft_landing folder, run command

cd ..

# Currently under aircraft_landing folder
catkin_make 

Two folders ./devel and ./build will be generated.

Obtain pretrained weights

Download the pretrained weights of the keypoint detector from

https://drive.google.com/file/d/1SvxcQDpmdmogz8YMhao6maXSMECIDaeH/view?usp=sharing

The pretrained weight should be placed under folder

src/landing_devel/

The keypoint detector is already integrated in the repo. It is based on unet and the code for training the detector can be found at

https://github.com/cyphyhouse/Pytorch-UNet.git

Running closed loop simulation

After the installation finished, open two terminals. In the first terminal, run command

source devel/setup.bash

and then run command

roslaunch rosplane_sim fixedwing.launch  

to start the gazebo simulator. Then in the second terminal, run command

source devel/setup.bash

Then go to folder src/landing_devel/NeuReach2/verse by command

cd src/landing_devel/NeuReach2/verse

and run command

python3 vision_based_simulation3.py

to closed loop simulation with vision pipeline.