ar_nav

A ROS package offering an autonomous flight including waypoint navigation with a quadcopter using ArUco markers

Installation

Clone repository and compile it

git clone https://github.com/denkrau/ar_nav.git
catkin_make ar_nav

This builds two nodes. The correct node for hovering is single and for waypoint navigation multi.

Dependencies (non-native)

The following packages are necessary in order to run ar_nav properly:

• ar_nav
• crazyflie_ros
• tud_img_prep

Usage

If necessary, edit the marker board files in /data/ before running the node with

rosrun ar_nav single [params]

or

rosrun ar_nav multi [params]

Due to the many parameters, the recommended way is using the launch files with

roslaunch ar_nav ar_nav_prep_single.launch

or

roslaunch ar_nav ar_nav_prep_multi.launch

For optimal functionality use this package in combination with modified crazyflie_ros.

Interaction

Subscriber

• marker_pose <geometry_msgs::TransformStamped> (in single <geometry_msgs::PoseStamped>)

Publisher

• cf_pose <geometry_msgs::PoseStamped>
• debug_pose <geometry_msgs::PoseStamped>

Services

• next_waypoint <std_srvs::Empty::Request&, std_srvs::Empty::Response&>
• prev_waypoint <std_srvs::Empty::Request&, std_srvs::Empty::Response&>

Parameter

• marker_pose_topic <std::string>
• world_frame <std::string>
• cf_frame <std::string>
• waypoints <std::string> (seperated by |)
• method <std::string> (either auto or manual)