inter_iit_uav_fleet

Software stack for the DRDO SASE's UAV Fleet Challenge , a high prep event for the Inter-IIT Techmeet 8.0. Detailed information about the software architecture and pipelines can be found in the wiki.

Overview

Contains the following components:

• planner : A Finite State Machine implementation using the Boost C++ libraries for state transitions and actions during the mission.

• detector : A detection and pose estimation framework to detect the Green objects in the field.

• router: A message reception, checks and feedback system for keeping track of the detected objects between the UAVs.

Dependencies

• OpenCV (3.0 or higher)

• Eigen

• ROS Melodic (stable, tested) with the following packages:

  • catkin
  • catkin_simple
  • roscpp
  • usb_cam (for obtaining images from a camera connected via USB)
  • cmake_modules
  • message_generation (for creating and using custom messages)
  • std_msgs
  • sensor_msgs
  • nav_msgs
  • geometry_msgs
  • eigen_conversions (Eigen compatibility with ROS)
  • cv_bridge (OpenCV compatibility with ROS)
  • mavros

• FKIE Multimaster

• Boost C++

Installation Instructions

• Initialise the workspace, if you haven't already, and clone the repository.

      mkdir -p ~/catkin_ws/src
      cd ~/catkin_ws
      catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
      catkin init  # initialize your catkin workspace
      cd ~/catkin_ws/src
      git clone https://github.com/tanaysaha/inter_iit_uav_fleet   %%%
      wstool init . ./inter_iit_uav_fleet/install/install_https.rosinstall
      wstool update

Build using either (preferably) catkin build inter_iit_uav_fleet or catkin_make after ensuring all dependencies are met.

Software Architecture

Nodes

• detector:

  • Subscribed topics

    • /image
    • /GPS
    • /odom

  • Published topics

    • /thresh_image
      • (Gives the thresholding/segmented image stream)
    • /contours
      • (Contains the contours of the image stream)
    • /marked_image
      • (Has the image stream with the detected object marked)
    • /obj_gps
      • (The gps of the detected object gets published)

• router:

  • Subscribed topics

    • /objects
    • /router/data
      • (Subscribes to a table containing information about the boxes)
    • /router/num
      • (Subscribes to the number of objects detected)

  • Published topics

    • /data

      • (Publishes a table a containing information about the boxes)

    • /num

      • (Publishes the number of objects detected)

Detailed information about the software architecture and pipelines can be found in the wiki.