IEEE RAS Summer Project: Payload Dropping Drone

Works with these versions:

• ArduPilot Copter ver 4.3.7

• Dronekit ver 2.9.2

• pymavlink ver 2.4.39

• mavros ver 1.16.0

• Gazebo ver 11.13.0-1~focal

• ROS Noetic

System Requirements: Ubuntu 20.04, 8 GB RAM

Installation

ArduPilot

Note: Change git checkout Copter-4.0.4 to git checkout Copter-4.3.7

Gazebo

ROS Noetic

Simulations

Note:

runway.world must be replaced in ~/catkin_ws/src/iq_sim/worlds

aruco_visual_marker_0, aruco_visual_marker_0_pad and drone_with_camera must be added/replaced in ~/catkin_ws/src/iq_sim/launch

To Launch

Terminal 1: roslaunch iq_sim runway.launch - ensure ROS-Noetic is installed beforehand

Terminal 2: cd ~/ardupilot/ArduCopter/ && sim_vehicle.py -v ArduCopter -f gazebo-iris --console - ensure ArduPilot and ArduPilot Gazebo plugins are installed

Terminal 3: python3.8 main.py - make sure this is running in the folder where drone scripts are stored

Terminal 4: python tryCam.py - this is to get camera view, integration with the script will be done soon. python3.8 main.py

Warnings

• Never use DroneKit SITL