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Path Planning for drones with cable suspended payload in cluttered spaces

Packages

1. payloadDroneNav

Contains code for planning and control for the system
Planner used is kinodynamic A* planner 
Controller is geometric control

Running the custom model

  • cp -r Drone_SuspendedPayload_Navigation/tree/master/models/drone/aruco_visual_marker_7 PX4-Autopilot/Tools/sitl_gazebo/models
  • cp Drone_SuspendedPayload_Navigation/tree/master/models/drone/iris_depth_camera.sdf PX4-Autopilot/Tools/sitl_gazebo/models/iris_depth_camera
  • This would replace the original iris depth camera with the new model

Running the pipeline

  • Terminal-1

    cd scripts

    python3 loadPose.py (publishes payload pose)

  • Terminal-2

    cd launch

    roslaunch map.launch

  • Terminal-3

    rosrun payloadDroneNav Planner

    When prompted 'start over ?', enter 1 or 0

  • Terminal-4 (for PX4 Controller)

    rosrun payloadDroneNav Controller

    Enter delay between control points when prompted (around 0.01-0.15)

  • Terminal-5 (for geometric control)

    cd src/payloadDroneNav

    cd scripts

    python3 geometricControl.py

  • Demos

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