hector_quadrotor_navigation

This project provides an implementation of 3D navigation for the hector quadrotor using the Moveit! Motion Planning Framework.

Support

This package is developed on Ubuntu 18.04 with ROS melodic. The support for other versions of ROS is under further development.

Getting Started

To install the necessary packages:

./setup.bash

To build the ros package:

catkin build

Hector Quadrotor Navigation

To launch the simulation environment :

roslaunch hector_navigation_simulation empty_world_navigation.launch

Users can custom the simulation environment by providing gazebo world files.

To launch the navigation stack:

roslaunch hector_navigation_simulation hector_navigation.launch

This package currently provides two ros service:

Takeoff service

rosservice call /hector_takeoff "takeoff_distance_m: Desired Takeoff distance"

The user is able to set the hovering height for takeoff.

Navigation service

rosservice call /hector_navigation "goal:
  x: 0.0
  y: 0.0
  z: 0.0
speed: 0.0"

Users are able to set the navigation goal position with a desired cruise speed.

Acknowledgement

This project is developed heavily referring to Tahsincan Köse's hector-moveit project.