An Open-Source Pose Estimation System for Micro-Air Vehicles

• Authors: Ivan Dryanovski, William Morris and Jizhong Xiao

Photos and Video Results

Documentation

Add links to documentation for released stacks. ROS

Instructions for reproducing experiments

Download and compile the code

The following command will download and install rosinstall, a tool to check out source code from multiple version control repositories.

sudo apt-get install python-setuptools
sudo easy_install -U rosinstall

The following command will download the code, and compile the ROS system tools needed for the demo:

rosinstall ~/icra2011_ccny 'http://www.ros.org/wiki/Papers/ICRA2011_Dryanovski_Morris_Xiao?action=AttachFile&do=get&target=ICRA2011_Dryanovski_Morris_Xiao.rosconfig'

The files are installed in ~/icra2011_ccny, and will not interfere with other ROS installations that you may have on your machine.

The installer uses this file ICRA2011_Dryanovski_Morris_Xiao.rosconfig to determine the version of the packages needed.

Before executing the steps below to build or run the code, be sure to source the shell setup file:

source ~/icra2011_ccny/setup.sh

The following command will compile the CCNY ROS packages, as well as any additional ROS packages needed for the demo:

rosmake ICRA2011_Dryanovski_Morris_Xiao --rosdep-install

Note: this command will download a bag file with experimental data from the CCNY Robotics Lab server.

Run the experiments

There are two sets of experimental data. Either set can be run in two modes: 1) using the standalone pose estimation algorithm, or 2) using pose estimation plus an additional slam processing step.

To reproduce an experiment, run either of the following four commands:

roslaunch ICRA2011_Dryanovski_Morris_Xiao experiment_01.launch

roslaunch ICRA2011_Dryanovski_Morris_Xiao experiment_02.launch

roslaunch ICRA2011_Dryanovski_Morris_Xiao experiment_01_slam.launch

roslaunch ICRA2011_Dryanovski_Morris_Xiao experiment_02_slam.launch