Notes with respect to uav-autonomous-landing

最新推荐文章于 2024-07-04 14:22:43 发布

wbzhang233

最新推荐文章于 2024-07-04 14:22:43 发布

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分类专栏： C++ 文章标签：自动驾驶

本文链接：https://blog.csdn.net/wbzhang233/article/details/104631700

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1.Run three terminals according to README

# 1-first 
sudo echo "${YOUR_REPO_PATH}/devel/setup.bash" >> ~/.bashrc

# 2- three terminal
# 2.1 UAV & UGV
roslaunch takeoff both.launch
# 2.2 detection & tracking
roslaunch uav_vision detection_tracking.launch
# 2.3 ped_traj & kf
roslaunch ped_traj_pred kalman_pred.launch

After roslaunch three terminals above,the pop-ups dialog will stuck.

2.How to replace the joystick with rostopic inputs

在这里插入图片描述 In the view of rosgraph, maybe we can replace the joysticks with some commands below.

# 1.发布消息代替joy_stick，控制UGV

rostopic pub [topic] [msg_type] [args]

## 起飞 takeoff
rostopic pub -1 /ardrone/takeoff std_msgs/Empty
rostopic pub /ardrone/takeoff std_msgs/Empty

## 降落 land

rostopic pub -1 /ardrone/land std_msgs/Empty

## 强制降落 force_land

rostopic pub -1 /ardrone/force_land std_msgs/Empty

## toggle_state 

rostopic pub -1 /ardrone/reset std_msgs/Empty

## 发布速度

rostopic pub -1 /ardrone/cmd_vel geometry_msgs/Twist -- '[0.0,0.0,1.0]' '[0.0,0.0,1.8]'

## ardrone_togglecam，触发相机

rostopic pub -1 /ardrone/togglecam std_msgs/Empty

3.Errors

I do roslaunch three terminals, but when I input the “takeoff” command it failed! If I just roslaunch both.launch alone, then input this command it works, UGV will move at a circular path.Here are some errors to refer
在这里插入图片描述