This report contains the code behind a Drone Delivery system innovated in fulfilment of the Institute Technical Summer Project organised by the Institute Technical Council of IIT Bombay.
How to use offb:
The working package(with web integration) is offb-working2.
- Install ROS, Gazebo, mavros, mavlink. For that copy the ubuntu_sim_ros_melodic.sh in your home. Now run bash ubuntu_sim_ros_melodic.sh in termianl.
- Clone px4 Firmware in catkin_ws/src using git clone https://github.com/PX4/Firmware.git --recursive.
- Install rosbridge_suite as directed in the wiki ROS documentation.
- Add a folder named offb in catkin_ws/src.
- Replace the contents of your offb package with the contents of this offb-single vehicle for single drone system and with offb-multi vehicle for multi drone system..
- Copy the launch_rosbridge.sh launch-common.sh and launch-offb.sh in the ROS folder to your catkin_ws root.
- Check and modify permisson of all files to executables.
- From the worlds folder, add all the contents to both catkin_ws/src/Firmware/Tools/sitl_gazebo/worlds, and sitl_gazebo/models.
- In catkin_ws/src/Firmware/launch/multi_uav_mavros_sitl.launch in line 8 change the world file at the end of the line to iitb2.world from empty.world
- Run catkin build. (not catkin_make)
- Install QGroundControl.
- Setup Done!!
How to run simulation:
- First launch the rosbridge server using the launch_rosbridge.sh.
- In a new terminal launch the ROS setup using launch-offb.sh
- Run QGroundControl.
- Open the website in the websie folder of the repo.
- Enter the commands to the delivery form.
- The simulation and the QGroundControl will recieve commands and the misson will run.
Here is an example of our system running: https://drive.google.com/file/d/15LzuOwKoyH1I0P72AiTNuyBkBPTJ-sk4/view?usp=sharing
Fair use of ubuntu_sim_ros_melodic.sh from dev.px4.io