Drone 3D Navigation

Overview

This package contains an implementation of drone 3D navigation in an OctoMap. The navigation is achieved using a PID controller and the path_planning package ensures an obstacle-free path inside the 3D map. By using the velocity commands, the IMU and the laser altimeter measurements, odometry estimation is calculated and is provided to the particle_filter package, which localizes the drone within the 3D map. Also, this package provides the ability to create trajectories for the drone to navigate through.

Usage

Run the main node with

roslaunch drone_3d_nav drone_3d_nav.launch

Launch files

• drone_3d_nav.launch: Standard simulation

  Arguments:

  • world The Gazebo world used for the simulation. Default: warehouse.world.
  • map The OctoMap used for the simulation. Default: warehouse.ot.

Nodes

navigate

Implementation of a PID controller for 3D navigation.

Subscribed Topics

• /amcl_pose [geometry_msgs/PoseStamped]

  The output of the particle filter algorithm that provides the pose of the robot inside the map.

• /waypoints_smooth [trajectory_msgs/MultiDOFJointTrajectory]

  The waypoints that the drone must follow next.

Published Topics

• /cmd_vel [geometry_msgs/Twist]

  Velocity commands that will be sent to the drone for reaching the next waypoint.

• /cmd_vel/stamped [geometry_msgs/TwistStamped]

  Stamped velocity commands that will be sent to the drone for reaching the next waypoint.

• /goal_reached [std_msgs/Bool]

  Flag sent when a waypoint is reached.

produce_odom

Estimation of drone odometry using IMU, velocity and laser height measurements.

Subscribed Topics

• /height [drone_gazebo/Float64Stamped]

  Laser altimeter measurement.

• /raw_imu [sensor_msgs/Imu]

  Measurements from the IMU.

• /cmd_vel/stamped [geometry_msgs/TwistStamped]

  Velocity commands that have been sent to the drone.

Published Topics

• /odom [nav_msgs/Odometry]

  Odometry estimation for the drone in 3D space.

produce_trajectory

Creation of a trajectory in 3D space that the drone can follow. This module does not ensure obstacle-free paths.

Published Topics

• /waypoints_smooth [trajectory_msgs/MultiDOFJointTrajectory]

  A set of points (position and orientation quaternion) that form the trajectory the drone will follow.

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.