XLAB Delivery

Drone delivery featuring MINCO trajectory generation, Aruco pose estimation, and EKF sensor switch. This package is developed to support smooth package delivery and precision landing near structures such as buildings.

• Additional resources: Demo Video and SolidWorks Files.
• Authors: Yueqian Liu and Yuanzhe Shen. Supported by @AbsurdityMaker/荒蛋制造局.

Install

Dependencies are ROS 2, PX4 development toolchains, and other required python packages. Code has been tested on Ubuntu 22.

Build

# Micro-XRCE-DDS-Agent
cd Micro-XRCE-DDS-Agent/
mkdir build
cd build
cmake ..
make

# build ROS packages
cd ROS-Workspace/
source /opt/ros/humble/setup.bash
colcon build

Run

# run Micro-XRCE-DDS-Agent
Micro-XRCE-DDS-Agent/build/MicroXRCEAgent udp4 -p 8888

# run ros gz bridge
source /opt/ros/humble/setup.bash
ros2 run ros_gz_bridge parameter_bridge \
/camera/trigger@std_msgs/msg/[email protected] \
/camera/img/down_left@sensor_msgs/msg/[email protected] \
/camera/img/down_right@sensor_msgs/msg/[email protected] \
/gz/model/odom@nav_msgs/msg/[email protected]

# run camera trigger publisher
source /opt/ros/humble/setup.bash
ros2 topic pub /camera/trigger std_msgs/msg/Bool "{data: true}" --print 0 --rate 30

# run PX4 simulation
cd PX4-Autopilot/
PX4_GZ_WORLD=park make px4_sitl gz_xlab550

# run odom simulator
source /opt/ros/humble/setup.bash
source ROS-Workspace/install/setup.bash
ros2 run xlab_delivery aruco_odom --ros-args --params-file ROS-Workspace/src/xlab_delivery/config/sitl_gz_park.yaml

# run flight manager
source /opt/ros/humble/setup.bash
source ROS-Workspace/install/setup.bash
ros2 run xlab_delivery flight_manager --ros-args --params-file ROS-Workspace/src/xlab_delivery/config/sitl_gz_park.yaml

# then run QGC, switch to offboard mode to start