Required ROS Packages

• For simulation of ARDrone in Gazebo
  1. ardrone_simulator_gazebo7 ^[2] - [1]
• For Aruco marker detection and pose calculation
  1. marker_pose_detection - [1]
  2. aruco_ros - [1]
  3. pal_vision_segmentation - [1]

Required Files

• ardrone_testworld.launch (cvg_sim_gazebo/launch) - Launches a test world with the ARDrone in Gazebo
• keyboard.py (cvg_sim_gazebo/scripts) - Script to takeoff, reset, land and fly ARDrone using keyboard.
• aruco_land.py (cvg_sim_gazebo/scripts) - Script to start the required PID loops and control the drones position with respect to the aruco marker using the bottom camera feed from ARDrone.

PID Loops

• Four PID loops are used in the aruco_land.py script to control the drones position.
  1. Translation along X axis (Roll)
  2. Translation along Y axis (Pitch)
  3. Translation along Z axis (Altitude)
  4. Rotation along Z axis (Yaw)

Procedure

• Launch the ardrone_testworld.launch present in cvg_sim_gazebo package inside ardrone_simulator_gazebo7 folder
• Drag and drop an aruco marker into the world from the insert tab in the left pane of Gazebo
• Start the ARDrone in simulation using the keyboard tele-op script (keyboard.py) present in cvg_sim_gazebo package and fly the drone until the the ArUco is visible in the bottom camera feed
• Start the aruco_land.py script to hover the drone directly above the ArUco marker

Appendix