barbarammcs / navigation-uav-ros

Project: Localization and detection of landmarks for supporting UAV navigation

Bachelor semester project 2 : part I

Visualizing data with ROS

1. install ROS, understanding topic, publishers and subscribers

2. Rviz tool with http://www.cvlibs.net/datasets/kitti/raw_data.php

3. Implement nodes from prerecorded rosbag containing images, localization and other sensor data and display nodes in a more advanced way.

Ros:

Install this repository:

cd ~/catkin_ws/src

git clone https://github.com/BarbaraMMCS/UAV_navigation_ROS.git

cd ~/catkin_ws/

catkin_make

Packages:

vision_opencv : http://wiki.ros.org/vision_opencv

usb_cam : http://wiki.ros.org/usb_cam

kitti_to_rosbag : https://github.com/ethz-asl/kitti_to_rosbag

Husky robot:

sudo apt-get install ros-melodic-husky-simulator ros-melodic-husky-navigation ros-melodic-husky-gazebo ros-melodic-husky-viz

export HUSKY_GAZEBO_DESCRIPTION=$(rospack find husky_gazebo)/urdf/description.gazebo.xacro

Launch package:

From video (drone file):

roslaunch ros_visualise main_video.launch

From camera device (webcam):

roslaunch ros_visualise main_usb_cam.launch

From rosbag (kitti dataset):

roslaunch ros_visualise main_rosbag.launch

Navigation (Husky robot)

http://wiki.ros.org/Robots/Husky

roslaunch ros_visualise main_path.launch