quad-autopilot

This repository holds the ros package for the Autopilot of our Quadrotor Project

Package name: autopilot
Node name: autopilot_node

Topics its subscribes to:

  */ardrone/bottom/image_raw : For the camera

  */ardrone/navdata          : For the quad altitude

  */autopilot/command        : To publish commands for the autopilot (std_msgs/String)

  */autopilot/cmd_vel        : To publish manual velocity to the quad which overrides the autopilot (geometry_msgs/Twist)

  */autopilot/coordinate     : To publish target grid coordiate for grid following (geometry_msgs/Point32)



Topics its publishes to:

  */ardrone/takeoff 

  */ardrone/reset          

  */ardrone/land      

  */quad/cmd_vel 

Autopilot commands:

to            :   Take off

ld            :   Land

reset         :   Reset the quad and autopilot

holdalt       :   Go to and hold a defined altitude

up/down       :   Increase or decrease the holding altitude by 50cm

holdnode      :   Go to the nearest node and hold over it

stopholdalt   :   Stop holding altitude

stopholdnode  :   Stop holding node

grid          :   Enable grid follow

stopgrid      :   Disable grid follow

of            : Autopilot master off

Example: Basic run for grid following to reach 3,2 node taking nearest node as origin
rostopic pub -1 autopilot/command std_msgs/String "to"
rostopic pub -1 autopilot/command std_msgs/String "holdalt"
rostopic pub -1 autopilot/command std_msgs/String "holdnode"

rostopic pub -1 autopilot/coordinate geometry_msgs/Point32 -- 3 2 0
rostopic pub -1 autopilot/command std_msgs/String "grid"