Master setup and documentation repository for the Pitt RAS team competing in Mission 7 of the International Aerial Robotics Competition -

Motion Planning and Control code for generic multirotor, developed for IARC Mission 7

Launchfiles and system-wide params for IARC Mission 7

A collection of utilities for various ROS packages, created for IARC7

Flight controller ROS interface for cleanflight and PX4 flight controllers

Sensor interfaces, filtering, and estimation (non-vision based) for IARC Mission 7

IARC7 Wire Harness Abstract Schematic

High-level mission control / decision making for IARC Mission 7

Computer vision code for IARC Mission 7 (see iarc7_common for more information about the team in general)

A node monitoring system which keeps track of heartbeats for all critical nodes in the system, allows for communication of failure states, and mediates safe responses to failures in various components of the system

ROS message types for generic multirotor, developed for IARC Mission 7

IARC7 Safety Kill Switch for quad

Firmware for microcontrollers doing various things on the RAS IARC drones

Capture images from Leopard Imaging LI-USB30-M021 camera on Linux

Motion capture for MAV using rgb-d camera

Tool for Group Labeling Images

CNNs for IARC Mission 7, used for side camera roomba detection