Drone Tasks

This repo is about the drone project.

• Integrate Camera Node and Aruco Detection Node to work together in ROS2.
• Generate a random maze grid and plan path using A* algorithm.
• Use ArUco Python package to detect markers with ID in a video.

• Integrate Object Detection Node to detect objects in the environment using a pre-trained model.
• Integrate Mapping Node to create a map of the environment using sensor data.
• Integrate Path Planning Node to plan a path from the current location to a target location using the generated maze grid.

• Integration to ROS2.

Note: PX4-Autopilot, px4_msgs, and px4-ros2-interface-lib must be ver 1.16

Install PX4-Autopilot

git clone https://github.com/PX4/PX4-Autopilot.git --recursive
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh

Install Micro-XRCE-DDS-Agent

git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
cd Micro-XRCE-DDS-Agent
mkdir build
cd build
cmake ..
make
sudo make install
sudo ldconfig /usr/local/lib/

Download opencv with given version (4.10.0 in the example)

git clone https://github.com/opencv/opencv.git
cd opencv
git checkout 4.10.0

Download opencv_contrib with given version (4.10.0 in the example)

git clone https://github.com/opencv/opencv_contrib.git
cd opencv_contrib
git checkout 4.10.0

Build and make opencv

cd opencv
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules ..
make
sudo make install

Set the OpenCV_DIR environment variable

export OpenCV_DIR=~/opencv/build

cd drone_ws
mkdir src
cd src
git clone https://github.com/PX4/px4_msgs.git
git clone https://github.com/Auterion/px4-ros2-interface-lib.git
cd ../
colcon build
source install/setup.bash