Final project for Introduction to Robotics

sim_vehicle.py -v ArduCopter -f gazebo-iris --map --console
gazebo --verbose worlds/iris_arducopter_runway.world
roslaunch mavros apm.launch

For keyboard controls:

chmod +x keyboardControl.py
python3 keyboardControl.py

Example (Controlled through the PyGame window):

For arUco tracking controls:

chmod +x arucoControl.py
python3 arucoControl.py

Example:

For OpenPose:

Coming Soon

1. Change line number 5 in apm.launch file to: <arg name="fcu_url" default="udp://127.0.0.1:14551@" />
2. Change line number 117 in apm_config.yaml with mav_frame: LOCAL_NED to mav_frame: BODY_NED. This is to make sure that the drone's setpoint velocity commands are relative to its frame.
3. Change <gui> settings in /usr/share/gazebo-9/worlds/iris_arducopter_runway.world from:

<gui>
    <camera name="user_camera">
        <pose>-5 0 1 0 0.2 0</pose>
    </camera>
</gui>

to:

<gui>
    <camera name="user_camera">
        <track_visual>
            <name>iris_demo</name>
            <static>true</static>
            <use_model_frame>true</use_model_frame>
            <xyz>-3 0 0</xyz>
            <inherit_yaw>true</inherit_yaw>
        </track_visual>
    </camera>
</gui>

for a third-person view for the drone.

rosservice call /mavros/set_mode 0 guided
rosservice call /mavros/cmd/arming true
rosservice call /mavros/cmd/takeoff "{min_pitch: 0.0, yaw: 0.0, latitude: 0.0, longitude: 0.0, altitude: 10.0}"
rosservice call /mavros/set_mode 0 land
rosservice call /mavros/cmd/arming false

Or on the terminal that you enter sim_vehicle.py -v ArduCopter -f gazebo-iris --map --console:

mode guided
arm throttle
takeoff <numValue>
mode land