| 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
| 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 |
| 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 |
| 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 |
| 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 |
| Type | Topic | Data_type |
|---|---|---|
| Subscriber | /drone/current/control_status | Custom Message GetDroneState |
| Publisher | /drone/set/control_status | Custom Message SetDroneState |
| Type | Topic | Data_type |
|---|---|---|
| Subscriber | /servo/angle | Custom Message AllServoAngle |
| 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 |