• AutoDrone-px4

基于ROS的自主无人机框架

硬件架构

主控:px4(STM32F427Vit6)
ROS算法/视觉运行平台:Nvidia Jetson NX
VIO: T265
动力套:Tmotor 
机械结构：x450
协处理器：ESP32-microROS

Dependencies

• Ros:

wget http://fishros.com/install -O fishros && . fishros

• Python-ROS:
• For Ubuntu 18.04 and Under version

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install python-rosdep
sudo rosdep init
rosdep update
rosversion -d

• For Ubnutu 20.04 and above version

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

• librealsense:

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev

Installation

安装ROS1

1. 安装catkin工具链:

   sudo apt install python-catkin-tools
   

2. 克隆这个仓库

   git clone  https://github.com/TheRoadToReality/AutoDrone-px4.git
   cd AutoDrone-px4/catkin_ws
   catkin clean
   

3. 安装 MAVROS

   • Kinetic(Ubuntu 16.04)

     sudo apt install ros-kinetic-mavros ros-kinetic-mavros-extras

   • Melodic(Ubuntu 18.04)

     sudo apt install ros-melodic-mavros ros-melodic-mavros-extras

   • Noetic(Ubuntu 20.04)

     sudo apt install ros-noetic-mavros ros-noetic-mavros-extras
     

4. 安装地理信息图集 [GeographicLib]

   wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
   sudo bash ./install_geographiclib_datasets.sh   

5. Install the [realsense2_camera] 在ROS中启动T265:

   • Kinetic(Ubuntu 16.04)

   sudo apt install ros-Kinedic-realsense2-camera

   • Melodic(Ubuntu 18.04)

   sudo apt install ros-melodic-realsense2-camera

   • Noetic(Ubuntu 20.04)

   sudo apt install ros-noetic-realsense2-camera ros-noetic-cv-bridge libopencv-dev
   

6. 安装ROS点云库 (PCL):

   • Melodic

     sudo apt install ros-melodic-pcl-ros

   • Kinetic

     sudo apt install ros-kinetic-pcl-ros

   • Noetic

     sudo apt install ros-noetic-pcl-ros
     

7. 编译这个package:

   cd ~/Autodrone_px4/catkin_ws
   catkin build px4_realsense_bridge

8. 启动ROS节点:

   source ./devel/catkin_ws/devel/setup.bash
   roslaunch px4_realsense_bridge bridge_mavros.launch

9. 启动外部控制文件:

   cd /Autodrone_px4/offboard
   catkin build
   Run

功能介绍

• 自主跟踪（已完成）
• 自主避障（已完成）
• 路径规划（已完成）
• 外部机械臂（待开发）
• T265_VIO SLAM（已完成）
• 激光雷达SLAM（待开发）
• 集群算法（已完成）
• 示教模式<无人机飞到曾经飞过的位置>(已完成)
• 迁移到自制飞控(开发中..)
• 增加中....