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ROS-based-delivery-drone

Hardware requirement

Component quantity
Pixhawk mini 1
Jetson Xavier NX 1
D455 Realsense 1
VESC 4
Gripper 1
LiPo (6s) 1

P.S. highly recommand to upgrade to Pixhawk 4 mini or Pixhawk 4

Software requirement

Name Remark
ROS melodic 1
Ubuntu 18.04 1
Gazebo 9 Simulation
Jetpack 4.5.1 Nvidia package
Darknet Model Training
ONNX Convert Model
TensorRT Increase speed
Google Collaboratory Train model

ROS Network

image

detection node

Type Topic Data_type
Publisher /desired/input/box_array BoundingBoxArray
Publisher /detection_result/number_of_obstacle Int32
Publisher /detection_result/number_of_human Int32
Publisher /detection_result/number_of_injury Int32
Publisher /detected_human Image
Publisher /detected_human_gesture String
Subscriber /camera/color/image_raw Image
Subscriber /camera/aligned_depth_to_color/image_raw Image
Subscriber /camera/aligned_depth_to_color/camera_info CameraInfo
Subscriber /camera/color/camera_info CameraInfo
Subscriber /desired_path/local_trajectory Path

vision navigation node

Type Topic Data_type
Publisher /drone/input_postion/pose PoseStamped
Publisher /desired_path/position MarkerArray
Publisher /desired_path/validation_position MarkerArray
Publisher /desired_path/local_marker MarkerArray
Publisher /desired_path/local_trajectory Path
Subscriber /drone/nagvation/pos PoseStamped
Subscriber /auto_mode/status BoolStamped
Subscriber /extract_indices/output PointCloud2
Subscriber /detection_result/number_of_obstacle Int32
Subscriber /detection_result/number_of_human Int32
Subscriber /detection_result/number_of_injury Int32

drone control node

Detail Refer to Repo V3.0

Onboard dron_control_node

Type Topic Data_type
Publisher /drone/nagvation/pos PoseStamped
Publisher /auto_mode/status BoolStamped
Publisher /mavros/setpoint_position/local PoseStamped
Publisher /drone/current/control_status Custom Message GetDroneState
Publisher /servo/angle AllServoAngle
Subscriber /drone/input_posistion/pose PoseStamped
Subscriber /mavros/local_position/pose PoseStamped
Subscriber /mavros/state State
Subscriber /drone/set/control_status Custom Message SetDroneState

Offboard offboard/dron_control_node

Type Topic Data_type
Subscriber /drone/current/control_status Custom Message GetDroneState
Publisher /drone/set/control_status Custom Message SetDroneState

servo node

Detail Refer to Repo V1.5

Type Topic Data_type
Subscriber /servo/angle Custom Message AllServoAngle

control GUI node

Ros Topic list

Type Topic Data_type
Subscriber /mavros/state State
Subscriber /mavros/local_position/pose PoseStamped
Subscriber /detected_human Image
Subscriber /detection_result/image Image
Subscriber /detected_human_gesture String
Subscriber /detected_human_pos String
Publisher /mavros/setpoint_position/local PoseStamped
Publisher /servo/angle AllServoAngle
Publisher /auto_mode/status Bool