README.md

NOTE: This repo is no longer maintained. Treat this as a historical archive.

ATL

Autonomous Tracking and Landing (ATL) for multi-rotors.

Dependencies

cd <your catkin workspace>/src
git clone https://github.com/wavelab/atl
cd atl/scripts/install
sudo bash install_deps.bash

This will install all depencies required by ATL.

Install

The following instructions assumes you have installed ROS.

cd <your catkin workspace>/src
git clone https://github.com/wavelab/atl
cd ..
catkin build

In short the above navigates to your catkin workspace's src, clones atl and finally runs catkin_make to build the project, tests and installs configs and launch files.

Run Gazebo Simulations

ATL uses Gazebo simulation to test the control and perception, to launch an instance of a Gazebo simulation along with ATL enter the following commands:

# Environment variables to tell Gazebo where to look for 3D models and plugins
# The following assumes you're using `catkin build` instead of `catkin make`
export GAZEBO_RESOURCE_PATH=${GAZEBO_RESOURCE_PATH}:$HOME/.gazebo
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$HOME/.gazebo/models
export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:$HOME/.gazebo/plugins

# Launch Gazebo simulation
roslaunch atl_ros atl_sim.launch

License

Copyright (C) <2016>  <Chris Choi, Stan Brown>

This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software Foundation,
Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301  USA