DRDO's UAV-Guided UGV Navigation Challenge

1. Prerequisites

1.1 Ubuntu and ROS

This package has been tested on Ubuntu 18.04 with ROS Melodic and Gazebo-9, installation instructions for ROS Melodic can be found here.

1.2. Libraries

Matplotlib, Numpy, Scipy, OpenCV, CasADi

    python -m pip install -U matplotlib
    pip install numpy
    python -m pip install --user numpy scipy matplotlib ipython jupyter pandas sympy nose
    sudo apt install python3-opencv
    pip install casadi

2. Setting up Environment Variables & Parameters

2.1 Environment Variables

2.2 Parameters

Camera Parameters: Open the file drdo-interiit22/models/gimbal_small_2d/model.sdf and update following parameters of <sensor name="depth_camera" type="depth"> :

    <update_rate>30</update_rate>
    <camera>
      <clip>
        <near>0.1</near>
        <far>70</far>
      </clip>
    </camera>
    <plugin name="depth_controller" filename="libgazebo_ros_openni_kinect.so">
      <updateRate>30.0</updateRate>
      <pointCloudCutoff>0.4</pointCloudCutoff>
      <pointCloudCutoffMax>70.0</pointCloudCutoffMax>
    </plugin>

3. Build the Repository

Clone the repository and catkin build:

    cd ~/catkin_ws/src
    git clone https://github.com/Cypre55/drdo-interiit22
    cd ../
    catkin build
    source ~/catkin_ws/devel/setup.bash

(if you fail in this step, try to find another computer with clean system or reinstall Ubuntu and ROS)

4. Running World-1:

    cd catkin_ws/src
    cd drdo-interiit22/scripts
    ./launch_world1.sh
    rosservice call /mavros/set_stream_rate 0 20 1

5. Running World-2:

    cd catkin_ws/src
    cd drdo-interiit22/scripts
    ./launch_world2.sh