The final version packages for FIRA-2019 Air Emergency Service NPUSoar team, finally we won the 1st place.
This repository mainly contains some git submodules：
fira_esi: The main ROS package of the robot. Include the UAV behavior, workflow (use FSM) and vision detection.plot_path: A mini package for plotting the UAV's trajectory.px4_indoor_setup: A mini package for forwarding vision odometry data to PX4 filght controller, through mavros.px4_modules_test: A package for testing mavros with PX4 in simulation env(Gazebo).zed-ros-wrapper: ZED Stereo Camera driver.MG995_key: A driver for our mechanical claw.
For some reasons, detailed documentation on the code is temporarily unavailable. Very sorry!
Videos: