add resources for tute 5

demo/tutorial_5/sample_fly.py

@@ -67,9 +67,9 @@ def image_callback(image):
 
         if(found_target):
             print("current height is: ", local_pose.z)
-            print("Moving in body(FLU) frame: ", (suitable_translation[2], -suitable_translation[0], suitable_translation[1]))
+            print("Moving in body(FLU) frame: ", (suitable_translation[2], -suitable_translation[0], - (local_pose.z - 1)))
 
-            com.move(suitable_translation[2], -suitable_translation[0], - local_pose.z - 1)
+            com.move(suitable_translation[0], -suitable_translation[2], - (local_pose.z - 1))
             time.sleep(30)
             found_target = False
 

simulator/launch/landing.launch

@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<launch>
+    <!-- MAVROS posix SITL environment launch script -->
+    <!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle -->
+    <!-- vehicle pose -->
+    <arg name="x" default="0"/>
+    <arg name="y" default="0"/>
+    <arg name="z" default="0"/>
+    <arg name="R" default="0"/>
+    <arg name="P" default="0"/>
+    <arg name="Y" default="0"/>
+    <!-- vehicle model and world -->
+    <arg name="est" default="ekf2"/>
+    <arg name="vehicle" default="iris_stereo_rgb_gps"/>
+    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/landing.world"/>
+    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
+    <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
+    <!-- gazebo configs -->
+    <arg name="gui" default="true"/>
+    <arg name="debug" default="false"/>
+    <arg name="verbose" default="true"/>
+    <arg name="paused" default="false"/>
+    <arg name="respawn_gazebo" default="false"/>
+    <!-- MAVROS configs -->
+    <arg name="fcu_url" default="udp://:14540@localhost:14557"/>
+    <arg name="respawn_mavros" default="false"/>
+    <!-- PX4 configs -->
+    <arg name="interactive" default="true"/>
+    <!-- PX4 SITL and Gazebo -->
+    <include file="$(find px4)/launch/posix_sitl.launch">
+        <arg name="x" value="$(arg x)"/>
+        <arg name="y" value="$(arg y)"/>
+        <arg name="z" value="$(arg z)"/>
+        <arg name="R" value="$(arg R)"/>
+        <arg name="P" value="$(arg P)"/>
+        <arg name="Y" value="$(arg Y)"/>
+        <arg name="world" value="$(arg world)"/>
+        <arg name="vehicle" value="$(arg vehicle)"/>
+        <arg name="sdf" value="$(arg sdf)"/>
+        <arg name="rcS" value="$(arg rcS)"/>
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="interactive" value="$(arg interactive)"/>
+        <arg name="debug" value="$(arg debug)"/>
+        <arg name="verbose" value="$(arg verbose)"/>
+        <arg name="paused" value="$(arg paused)"/>
+        <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
+    </include>
+    <!-- MAVROS -->
+    <include file="$(find mavros)/launch/px4.launch">
+        <!-- GCS link is provided by SITL -->
+        <arg name="gcs_url" value=""/>
+        <arg name="fcu_url" value="$(arg fcu_url)"/>
+        <arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
+    </include>
+</launch>

simulator/models/qrcode/materials/scripts/qrcode.material

@@ -0,0 +1,17 @@
+material qrcode/Image
+        {
+          technique
+          {
+            pass
+            {
+              ambient 1 1 1 1.000000
+              diffuse 1 1 1 1.000000
+              specular 0.03 0.03 0.03 1.000000 
+
+              texture_unit
+              {
+                texture qrcode.png
+              }
+            }
+          }
+        }

simulator/models/qrcode/model.config

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<model>
+   <name>qrcode</name>
+   <version>1.0</version>
+   <sdf version="1.4">model.sdf</sdf>
+   <description>A QRcode for auto landing.</description>
+</model>

simulator/models/qrcode/model.sdf

@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version="1.4">
+   <model name="qrcode">
+      <static>true</static>
+      <pose>0 0 0.1 0 0 4.712</pose>
+      <link name="link">
+         <collision name="collision">
+            <geometry>
+               <plane>
+                  <normal>0 0 1</normal>
+                  <size>2 2</size>
+               </plane>
+            </geometry>
+            <surface>
+               <friction>
+                  <ode>
+                     <mu>100</mu>
+                     <mu2>50</mu2>
+                  </ode>
+               </friction>
+            </surface>
+         </collision>
+         <visual name="visual">
+            <cast_shadows>false</cast_shadows>
+            <geometry>
+               <plane>
+                  <normal>0 0 1</normal>
+                  <size>2 2</size>
+               </plane>
+            </geometry>
+            <material>
+               <script>
+                  <uri>model://qrcode/materials/scripts</uri>
+                  <uri>model://qrcode/materials/textures/</uri>
+                  <name>qrcode/Image</name>
+               </script>
+            </material>
+         </visual>
+      </link>
+   </model>
+</sdf>