ksakash / area_coverage Goto Github PK

# area_coverage
contains ros code for position controller

# nodes

area_coverage.cpp - node that is a local planner for 2 planners that take waypoints from cfg/ dir

obst_marker.cpp - node that publishes the location of the obstacles to show as a marker in rviz

ostacle.cpp - take laser scans from the lidars and publish an array which indicates in which
              direction the quadcopter can go

odo_offset.cpp - node to publish corrected odometry for quadcopters with an offset due to initial
                 position

offb_node.cpp - local planner to follow a series of waypoints for a single quadcopter, provides
                framework for other planners for multiple quadcopters

random_sequence.cpp - a unique local planner to randomly select a trajectory in a fixed environment
                      with fixed ostacles

offb_node_local.cpp - offboard control with a basic local planner

# dirs

cfg - contains waypoints to be followed by one of the local planner
launch - contains launch files for launching nodes
src - source code
msg - ROS msg files
msgs - Gazebo msg files
srv - ROS service files

# dpendencies

melodic-ros, mavros, geometry_msgs, px4_gazebo_sitl

# instructions to build

$ mkdir -p catkin_ws/src
$ cd catkin_ws
$ catkin_make
$ cd src
$ git clone https://github.com/ksakash/area_coverage
$ cd ../
$ catkin_make

# instructions to run

$ cd catkin_ws
$ source devel/setup.bash
$ rosrun <package_name> <node_name>