A ROS package offering an autonomous flight including waypoint navigation with a quadcopter using ArUco markers
Clone repository and and compile it
git clone https://github.com/denkrau/ar_nav.git
catkin_make ar_nav
This builds two nodes. The correct node for hovering is single
and for waypoint navigation multi
.
The following packages are necessary in order to run ar_nav
properly:
- ar_nav
- crazyflie_ros
- tud_img_prep
If necessary, edit the marker board files in /data/
before running the node with
rosrun ar_nav single [params]
or
rosrun ar_nav multi [params]
Due to the many parameters, the recommended way is using the launch files with
roslaunch ar_nav ar_nav_prep_single.launch
or
roslaunch ar_nav ar_nav_prep_multi.launch
- marker_pose <geometry_msgs::TransformStamped> (in
single
<geometry_msgs::PoseStamped>)
- cf_pose
- debug_pose
- next_waypoint
- prev_waypoint
- marker_pose_topic std::string
- world_frame std::string
- cf_frame std::string
- waypoints std::string (seperated by
|
) - method std::string (either
auto
ormanual
)