A demo project for various uav tasks such as scanning and tracking

The project is a simulation project based on Gazebo and ROS (Melodic or higher version). It uses the hector_quadrotor, a ROS package, for simulating the UAV, with a depth camera for capturing data.

• Gazebo-ROS packages (on Melodic for example)

  • ros-melodic-gazebo-ros-pkgs
  • ros-melodic-gazebo-ros-control
  • ros-melodic-effort-controllers
  • ros-melodic-joint-state-controller
  • ros-melodic-controller-manager
  • ros-melodic-geographic-msgs
  • ros-melodic-sensor-msgs

• ROS packages

  • hector_quadrotor
  • hector_gazebo
  • hector_localization
  • hector_sensor_description

• Vision packages

  • opencv and opencv-python
  • realsense sdk and realsense-ros

• Point Cloud Library (Optional, only for 3D point cloud process)

  • point cloud library and python-pcl

• uav_task_gazebo, gazebo simulation of environment and quadrotor, including models and launch files.
• uav_task_description, urdf description of quadrotor and camera.
• uav_task_control, control settings for the quadrotor and camera.

• Start environment with a mobile ugv and launch double quadrotors

  roslaunch uav_task_gazebo double_uav_tracking.launch
  

• GOAL: use two quadrotors to track the random moving UGV.
  • mission 1: create a package for UAV tracking.
  • mission 2: control the quadrotors to takeoff, flying, and landing using the related ROS topics.
  • mission 3: write a script to autonomously control the quadrotors to track the moving UGV while maintaining distance between the quadrotors to the UGV (avoiding collision), and display the captured image of each quadrotor.

• Start environment with a target airplane and launch a single quadrotor

  roslaunch uav_task_gazebo double_uav_scanning.launch
  

• GOAL: use multiple quadrotors to inspect the large airplane.
  • mission 1: create a package for UAV scanning.
  • mission 2: control the quadrotors to takeoff, flying, and landing using the related ROS topics.
  • mission 3: write a script to autonomously flying multiple quadrotors to do cooperative scanning while avoiding collision, and display the captured image of pointcloud data of each quadrotor.