Visual-based Autonomous Unmanned Aerial Vehicle for Inspection in Indoor Environments

Installing the packages:

mkdir -p ~/hydrone_workspace/src && cd ~/hydrone_workspace/src
git clone https://github.com/Nicolasbort/hydrone-LARS.git
git clone https://github.com/ethz-asl/rotors_simulator.git
git clone https://github.com/ethz-asl/mav_comm.git
git clone https://github.com/OctoMap/octomap_ros.git
sudo apt install libgoogle-glog-dev
cd ..
catkin_make

Installing the gazebo models:

Move the models from ~/hydrone_workspace/src/hydrone-LARS/hydrone_aerial/hydrone_aerial_gazebo/models to ~/.gazebo/models

How to run the simulation environment:

source ~/hydrone_workspace/devel/setup.bash

• Mapping task:

roslaunch hydrone_aerial_gazebo hydrone_aerial_mapping.launch

• Sensing task:

roslaunch hydrone_aerial_gazebo hydrone_aerial_sensoring.launch

• Inspection task:

roslaunch hydrone_aerial_gazebo hydrone_aerial_inspection.launch

How to start the UAV:

rostopic pub /mavros/state mavros_msgs/State "header:
  seq: 0
  stamp: {secs: 0, nsecs: 0}
  frame_id: ''
connected: false
armed: false
guided: false
manual_input: false
mode: 'ACRO'
system_status: 0"