ROS Package For Drone Obstacle Avoidance Project
Introduction
Hardware
-
OA07A Mid Range Development Platform
- Designed for indoor and outdoor test environment
- OBC: Jetson nano
- Depth Camera: D435i
- Laser Scanner: RPLidar A1
- VOI: t265
-
OA07S Short Range Low-Cost Development Platform [WIP]
- Designed for indoor and outdoor test environment
- OBC: Jetson nano
- Depth Camera: SR305
- VOI: t265 [Optional]
Software Package Component
Required ROS packages:
- mavros
Modules:
- CNCInterface [WIP]
- Direct command and control interface communicate with mavros and give command to the flight controller unit via mavlink
- Supported Commands:
- SetMode
- Takeoff
- Landing
- Waypoint Guided
- Yaw Control
- Watcher [WIP]
- SensorInterface [WIP]
- Sensor data pre-processing
- Camera data pre-processing
- "Black Box" logging
- AIInterface [WIP]
- Coming soon
- OAController [WIP]
- Main controller
- Switch between OA modes
- Application level fail safety handling
- Mission queue
- Utils [WIP]
- Unittests