egh450_navigation_interface

An example ROS package to perform high-level navigation tasks by interfacing with contrail

Download & Compile

cd ~/catkin_ws/src
git clone https://github.com/qutas/egh450_navigation_interface
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash

Usage

To run a basic demonstration off of contrail navigation interface, first launch uavusr_emulator guidance example as per usual. Next, you will need to make a copy of the demo launch file:

mkdir -p ~/catkin_ws/launch
cd ~/catkin_ws/launch
roscp egh450_navigation_interface navigator_demo.launch ./

Next, edit the newly created launch file, using the remap roslaunch commands to connect the navigator interfaces with the contrail interfaces (the given example will already work for the uavusr_emulator):

nano ~/catkin_ws/launch/navigator_demo.launch

Once ready, save and run the launch file with the command:

roslaunch ~/catkin_ws/launch/navigator_demo.launch

This will begin send a path to contrail to track from [0.0,0.0,1.0] to [3.0,0.0,1.0] (hardcoded in the src/egh450_navigation_interface/navigation_interface.py file). Mid-way through the path, run the following command:

rostopic pub -1 /imagery_trigger std_msgs/Empty "{}"

This will send the trigger message to the navigator, where the message is an empty trigger. You should see the uav stop where it is, wait for 5 seconds, then resume the path.