KNR Drones quadcopter control

This is KNR repository for control of quadcopter drones based on ROS2 (Humble).

In order to use the repository clone it recursively.

git clone --recursive https://github.com/KNR-PW/drone-knr

The simulator is implemented as an submodule, thus the --recursive flag.

Prerequisities

ROS2 - Humble

ROS2 Humble requires Ubuntu 22.04. Make sure the correct version is installed according to official tutorial.

Latest ArduPilot software

The latest ArduPilot software is needed in order to fly the drone, as well as provide software for simulation. Current installtion instructions are based on official ArduPilot documentation

First, clone official repository:

git clone --recurse-submodules https://github.com/your-github-userid/ardupilot
cd ardupilot

Then, install required packages using provided script:

Tools/environment_install/install-prereqs-ubuntu.sh -y

Lastly, reload the path (log-out and log-in to make permanent):

. ~/.profile

Run Simulation

In order to run the simulator, look into Simulation package documenation

Run Detector

In order to run the detector, look into Detector package documenation

Run Detector GUI

In order to run the detector GUI, look into GUI package documenation