无人机集群自主飞行(ego+vins)到检测火焰(yolo)项目说明

目标检测部分

目标检测基于darknet-yolo框架，配置详见
https://www.yuque.com/xtdrone/manual_cn/swarm_motion_planning

1、更改目标检测相机
使用RGB-D相机的左摄像头而不是单目相机，修改配置如下
在xxx.launch启动文件中模型使用realsense深度相机模型

<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_realsense_camera/iris_realsense_camera.sdf"/>

在~/catkin_ws/src/darknet_ros/darknet_ros/launch/task1.launch修改

  <!-- <arg name="image" default="/typhoon_h480_0/cgo3_camera/image_raw" /> -->
  <arg name="image" default="/iris_0/stereo_camera/left/image_raw" />

在~/catkin_ws/src/darknet_ros/darknet_ros/config/uav_0.yaml修改

    # topic: /typhoon_h480_0/cgo3_camera/image_raw
    topic: /iris_0/stereo_camera/left/image_raw

2、更改目标检测模型
在~/catkin_ws/src/darknet_ros/darknet_ros/launch/task1.launch修改

<arg name="network_param_file"         default="$(find darknet_ros)/config/fire.yaml"/>

同时在congfig文件夹中添加fire.yaml模块
在yolo_network_congfig中分别添加fire.cfg和fire.weight文件，（以上三个文件在xxx）
3、场景更改
修改场景为代火焰贴图的场景forest_with_wall1.world

路径规划部分

路径规划模块基于ego-planner，配置详见
https://www.yuque.com/xtdrone/manual_cn/3d_motion_planning
1、ego_planner修改
主要把plan_manage替换，测试为集群模式

    <!-- 1: use self define public goal: ego_planner-->
    <!-- 2: use param.xml goal : ego_planner  -->
    <!-- 3: use swarm public goal : ego swarm  -->
    <arg name="flight_type" value="3" />

2、接口文件
在catkin_ws中src将test文件夹拷贝进来
ego_swarm_goal_new.py：发布集群目标
ego_swarm_goal_new.sh：集群目标启动文件
goal.py：转换目标点文件
hover.py：无人机悬停
yolo_interface.py：yolo接口文件

启动文件

详见multi_plan.sh文件

cd ~/catkin_ws;  source devel/setup.bash; roslaunch darknet_ros task1.launch
cd ~/PX4_Firmware; roslaunch px4 multi_vehicle.launch
cd ~/catkin_ws; roslaunch vins xtdrone_run_vio.launch
cd ~/XTDrone/sensing/slam/vio; python multi_vins_transfer.py iris 3 
cd ~/XTDrone/communication; bash multi_vehicle_communication.sh
cd ~/catkin_ws/src/offboard/scripts; python3 hover.py iris 3 vel
cd ~/XTDrone/motion_planning/3d; python2.7 ego_swarm_transfer.py iris 3
cd ~/catkin_ws; roslaunch ego_planner multi_uav.launch
cd ~/catkin_ws; roslaunch test goal_run.launch
cd ~/catkin_ws; rosrun test yolo_interface.py iris 0
cd ~/catkin_ws/src/test/script; bash ego_swarm_goal_new.sh   #统一发布