We created a quadrotor based testbed for existing and new traffic control algorithms. This system can accelerate the development of modular self-contained autonomous routing controllers for dense low-altitude fleets of quadrotors. This platform will be used by students and researchers as a low-cost, but realistic tool for testing outdoor navigation algorithms.
https://devpost.com/software/autonomous-airspace
##Additional Project Components
GUI https://github.com/katetolstaya/teammega_gui
Matlab Path Planner https://github.com/brent8149/Matlab_planner
C++ controller https://github.com/brent8149/teamMEGA
##Installation Requirements
See each individual link for installation instructions.
A simulator of choice (jMavSim or Gazebo) (http://dev.px4.io/simulation-sitl.html)
MAVROS (http://dev.px4.io/ros-mavros-installation.html)
ROS (Tested with Kinetic) (http://wiki.ros.org/kinetic/Installation/Ubuntu)
MATLAB Planner (https://github.com/brent8149/Matlab_planner)
teamMEGA ROS Node (https://github.com/brent8149/teamMEGA)
GUI Application (https://github.com/katetolstaya/teammega_gui)
ROSBridge (https://github.com/RobotWebTools/rosbridge_suite)
##Executing the Software
If you are using a simulator (jMavSim):
To use jmavsim:
cd ~/src/Firmware
make broadcast jmavsim
Otherwise, simply note the IP Address of your quadrotor on the network.
To run MAVROS: (Check the port / IP)
For simulator:
roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557"
For Serial / USB:
roslaunch mavros px4.launch fcu_url:="serial:///dev/ttyACM0:921600"
For real drone over WIFI:
roslaunch mavros px4.launch fcu_url:="udp://:14550@192.168.4.1:14555"
Launch ROSbridge
roslaunch rosbridge_server rosbridge_websocket.launch
Launch web-app
open teammega_gui/index.html
Launch team_mega
rosrun teamMega teamMega
Launch matlab
matlab planner_sim.m
After the above commands have been executed, you will be able to click landing locations and obstacles in the GUI, and observe the planner creating appropriate trajectories for the system, and then successfully flying the quadrotors.