A complete odometry free solution for mapping and exploring an unknown environment via UAV
- Knowledge of ROS
- ROS needs to be installed
- sudo apt-get install ros--hector-slam
- sudo apt-get install mavros
- sudo apt-get install ros--husky-navigation
- roslaunch dp3d.launch ( it will require hector_laser_to_pointcloud node, needs to be compiled in a catkin workspace)
Hardware in my case:
- Rplidar (node name: rplidar_node, topic name: /scan)
- Pixhawk 1 (node name: mavros, imu topic name: /mavros/imu/data)
- I wrote a seperate node to publish height data by subscribing to the barometer topic, as I didn't have a dedicated height sensor. (My approach was inaccurate). Please get a height sensor and modify the python script in "learning_tf" folder as per your needs and "rosrun learning_tf <script_name>.py