== An Open-Source Pose Estimation System for Micro-Air Vehicles ==
 * Authors: Ivan Dryanovski, William Morris and Jizhong Xiao
## Fill out commented sections below after paper is accepted.
## * Forum: FILL ME IN
<<TOC(3)>>
##== Citation ==
##{{{
##CHANGEME
##@inproceedings {Quigley2009,
##	title = {ROS: an open-source Robot Operating System},
##	booktitle = {International Conference on Robotics and Automation},
##	series = {Open-Source Software workshop},
##	year = {2009},
##	author = {Morgan Quigley and Ken Conley and Brian Gerkey and Josh Faust and Tully B. Foote and Jeremy Leibs and Rob Wheeler and Andrew Y. Ng}
##}
##}}}

##== Full Text ==
##[[attachment:change_me_and_upload.pdf]]

== Photos and Video Results ==

##Example Video:
##<<Youtube(2MStTgDZSsU)>>

##Example photo:
##{{attachment:frames2.png||height="431px",width="498px"}}

== 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 [[attachment: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
}}}


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## PublicationREMOVETOINDEXCategory