Initial setup

clone directory

First, follow the instructions under sky_sim.

Then, just clone this repository, by running the follow command:

git clone --recursive git@github.com:hfcaio/obstacle-avoidance.git

Build Instructions

Inside obstacle-avoidance, run catkin build:

cd ~/obstacle-avoidance

catkin build

running the Simulation Demo

To test the code in simulation we need 3 terminals:

1 terminal

sim_vehicle.py -v ArduCopter -f gazebo-iris

2 terminal

cd ~/obstacle-avoidance

source devel/setup.bash

roslaunch obstacle_avoidance mission_sim.launch

After gazebo opens insert an object for the drone to avoid.

3 terminal

cd ~/obstacle-avoidance

source devel/setup.bash

rosrun obstacle_avoidance mission.py