avr-tec / obstacle_avoidance_for_uav_

This is a ROS workspace that creates a trajectory for a UAV to follow passing through a set of given waypoints and avoiding a set of given cylindrical obstacles, using a path planning algorithm. The testing is done through a node that plots the waypoints, obstacles and the current pose of UAV on RVIZ for examining the accuracy of the algorithm.

Obstacle Avoidance for UAV

This is a ROS workspace that creates a trajectory for a UAV to follow passing through a set of given waypoints and avoiding a set of given cylindrical obstacles, using a path planning algorithm. The testing is done through a node that plots the waypoints, obstacles and the current pose of UAV on RVIZ for examining the accuracy of the algorithm.

Requirements :

1. ROS
2. ardupilot
3. mavros
4. rviz
5. mission planner (preferred) or apm planner

Commands :

Testing existing algorithms :

1. roscore
2. /(path to sim_vehicle)/sim_vehicle.py --console --map --aircraft test
3. roslaunch mavros apm2.launch fcu_url:=udp://localhost:14550@
4. rosrun map currentXY
5. rosrun map markPoints
6. rviz (write the frame id i.e. /my_frame in the Fixed Frame)
7. rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map my_frame 10
8. rosrun map waypoints