drone_planning_ros

1. Integrate with drone simulation using PX4 and Gazebo. https://github.com/PX4/PX4-Autopilot/tree/release/1.13 Added RGBD camera and 3D lidar to iris_depth_camera model.

2. Integrate with multirotor keyboard, communication and single_vehicle_spawn_xtd.launch from XTDrone. https://github.com/robin-shaun/XTDrone

3. Integrate with 3D planner which do not require static map from sampling-based-Guided. Modified in https://github.com/KorawitGems/sampling-based-Guided

4. Integrate with 3D SLAM rtabmap_ros to generate point cloud map. https://github.com/introlab/rtabmap_ros

Installation

1. Install ROS Noetic, rtabmap_ros, sampling-based-Guided, MAVROS, PX4, and Gazebo.

2. Clone drone_planning_ros into your ROS workspace

git clone https://github.com/KorawitGems/drone_planning_ros.git

Run

roslaunch drone_planning_ros px4_mavros_gazebo.launch
roslaunch drone_planning_ros xtdrone_keyboard.launch
roslaunch drone_planning_ros sampling_planning.launch
roslaunch drone_planning_ros slam_3d_lidar.launch

The planner can avoid large obstacles.