* Control drone by code Position + Yaw
* Avoid obstacles by code Ewok
[email protected]:AnhDuy207/planning.git
- Connect my local computer with Jetson nano
ssh [email protected].*.*
- Launch a quadrotor with px4 and mavros in gazebo
roslaunch mavros px4.launch fcu_url:="/dev/ttyTHS1:921600"
- Open camera D435
roslaunch realsense2_camera rs_camera.launch depth_width:=640 depth_height:=480 depth_fps:=15
- Transform frame "map" & frame "world"
roslaunch ewok_ring_buffer statictransform.launch
- Convert encoding of topic camera from 16UC1 to 32FC1
cd DuyNam_ws/src
python visualize_data.py
- Run code Ewok create map
roslaunch ewok_optimization optimization_point.launch
- Run the offboard_position_yaw_control
roslaunch offboard planner.launch simulation:=true
- Record file bag
rosbag record -O subset_12052022 /camera/color/image_raw /camera/depth/image_rect_raw /depth_topic_2 /mavros/local_position/pose /mavros/imu/data /mavros/local_position/odom /ring_buffer/distance /ring_buffer/free /ring_buffer/free_array /ring_buffer/occupied