Grene-Counter-Drone using FastPlanner and Octomap

Download mavros, mavlink and Px4-Autopilot from their respective Github repo

Catkin Folder Structure

All folder(workspaces) are in /home directory

1. PX4-Autopilot
   Contains PX4-Gazebo-SITL

2. catkin_ws
   Contains mavros

3. fastplanner_ws
   Contains mapping, planning and controller nodes

Running the Simulation

Terminal 1:-

cd PX4-Autopilot/
roslaunch px4 mavros_posix_sitl.launch

In the same terminal type

pxh> commander takeoff

It will launch Gazebo, World, Mavros, PX4, Quadcopter(iris_depth_camera)

Terminal 2:-

cd fastplanner_ws/
source devel/setup.bash
roslaunch FastPlannerOctomap MappingSim.launch

Give goal location using 2D Nav Goal option in the rviz

Terminal 3:-

cd fastplanner_ws/
source devel/setup.bash
rosrun FastPlannerOctomap Planner

For the startOver option select either 1 or 0
Also give the height (in metres) of the goal location when prompted.

Terminal 4:-

cd fastplanner_ws/
source devel/setup.bash
rosrun FastPlannerOctomap Controller