Our problem statement consists of a team of multiple autonomous drones, tasked with identifying and picking boxes from in-between the strawberry rows and then stacking them in a palletized form onto two parked flatbed trucks.
For solving our problem statement we shall use PX4 Autopilot ecosystem for controlling the UAV, Gazebo simulator, a robotics simulator, where the simulated farm and UAV’s will reside, and ROS for integrating various aspects of autonomy required in the solution.
- The operating system on which all the softwares run is Ubuntu 20.04. Since the package is run entirely in Gazebo 11 simulation, Ubuntu 20.04 is the only supported operating system
- Robot Operating System (ROS) is the framework which is used to integrate the components in the package. The version of ROS supported in the competition is Noetic.
- The entire package is to be implemented inside the Gazebo simulation environment
- The official version supported is Gazebo 11.xx.
- Gazebo 11 is tightly integrated with ROS Noetic and so it comes pre-installed when
ros-noetic-desktop-fullis installed
- Python is the language in which the programs are written
- The version of Python supported with ROS Noetic is Python 3
- Hence all the python programs interfacing with ROS Noetic framework should be written in Python 3. Python 3 comes preinstalled with ROS Noetic
- Install ROS Noetic and set up PX4 as given in Task 0 README
- Clone the repository in your workspace src folder.
cd px4_ws/src git clone https://github.com/Shobuj-Paul/Strawberry-Stacker.git - Build the package.
cd .. catkin build
For each task package, README files are provided which give details about the problem statement and the task specifications. The video/image solutions are also added in the README files.