This is stable version branch for quardrotor landing on a moving platform project.

• The planning framework of this repository is based on Fast-Perching.
• The px4ctrl FSM node of this repository is based on Fast-Drone-250.

Compiling tests passed on ubuntu 20.04 with ros installed.

install:

sudo apt-get install ros-noetic-geodesy ros-noetic-mavros ros-noetic-apriltag-ros
git clone -b master https://github.com/RM-Huang/Moving_landing
cd Moving_landing/src/utils
unzip mavlink_msg.zip
cd ../..
catkin_make -DCATKIN_WHITELIST_PACKAGES="chcnav"
catkin_make -DCATKIN_WHITELIST_PACKAGES=""
source devel/setup.bash

install odometry data transport module on car computer:

unzip car_data_trans.zip  -d /home
cd car_data_trans
catkin_make

You need to install gazebo and rviz with correct ros version. Run the following script to start simulation.

./sim_traj_follow.sh

You can use WSAD in the second terminator to adjust velocity and attitude of the car.

And nodelet status would be publised on the following terminator.

Then use the following script to takeoff UAV.

./takeoff.sh

After vehicle stablized, run the following script to start planning:

./pub_triger.sh

You have to read the README.md file in the px4ctrl package before you run the script. Execute the following commands to take off your vehical after you connecting Autopilot to flight computer.

cd Moving_landing/sh_utils
./realflight_landing.sh
./takeoff.sh

Than run the following sctipt to start planning.

./pub_triger.sh