Bots-Repo - UAV-UGV collaboration

Cleveland State University (Senior design)

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Team Members

• Sujay Bajracharya
• Austin Cassill
• Lakiel Wade
• William Heeter

Packages required

• we can write stuff here
  • this is a list
  • list item

TODO

• Astra camera: get the launch file working.
  • we can look at the small laptops and the email that shiqi sent recently
• Simulation/Gazebo: get the robots fully controllable.
  • see in the launch file for the joystick teleop for rotors.

Gazebo Simulator

With the Catkin_ws setup run

• roslaunch rotors_gazebo bebop_hover.launch

  to control the turtlebot run

• roslaunch turtlebot_teleop keyboard_teleop.launch

  to control the drone

  • Coming Soon

Network Setup

Instructions to setup the network to control the bots from a remote computer. NOTE: must be on same network

On master PC

run these cmds

• roscore
• hostname -I
• export ROS_IP="yourip"

On slave PC

run these cmds

• export ROS_MASTER_URI=http//"masterip":11311
• hostname -I
• export ROS_IP="yourip"

ORB_SLAM2

Github:

• https://github.com/raulmur/ORB_SLAM2

Run command:

• rosrun ORB_SLAM2 Mono [Vocabulary file] [settings file] /camera/image_raw:=/bebop/image_raw
• Example: rosrun ORB_SLAM2 Mono ./Vocabulary/ORBvoc.txt ~/Bots-Repo/Camera/bebop2_cam.yaml /camera/image_raw:=/bebop/image_raw

Now we need a way save and load map

Issues:

• We need to be able to save and load maps

Addtional Dependencies

• https://github.com/AutonomyLab/bebop_autonomy
• https://github.com/ethz-asl/mav_comm
• https://github.com/ros-teleop/teleop_twist_keyboard
• https://github.com/AutonomyLab/parrot_arsdk
• https://github.com/CSUHuman-UAV-UGV-Collaboration/ar_track_alvar.git (Use Sudo apt-get ros-kinetic-ar-track-alvar)