# prometheus_competition

**Repository Path**: saumonk/prometheus_competition

## Basic Information

- **Project Name**: prometheus_competition
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-06-14
- **Last Updated**: 2024-07-29

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 一、飞行避障比赛编译

## 1.1 编译common模块
```bash
catkin_make --source Modules/common --build build/common
```

## 1.2 编译experiment模块
```bash
catkin_make --source Experiment/sensor/livox_ros_driver2 --build build/sensor/livox_ros_driver2
catkin_make --source Experiment/sensor/px4 --build build/sensor/px4
catkin_make --source Experiment/sensor/realsense2_camera --build build/sensor/realsense2_camera
catkin_make --source Experiment/sensor/tfmini_ros --build build/sensor/tfmini_ros

catkin_make --source Experiment/toolkit/pose_utils --build build/toolkit/pose_utils
catkin_make --source Experiment/toolkit/cmake_utils --build build/toolkit/cmake_utils
catkin_make --source Experiment/toolkit/multi_map_server --build build/toolkit/multi_map_server
catkin_make --source Experiment/toolkit/odom_visualization --build build/toolkit/odom_visualization
catkin_make --source Experiment/toolkit/pub_goal --build build/toolkit/pub_goal
catkin_make --source Experiment/toolkit/rviz_plugins_3d_goal --build build/toolkit/rviz_plugins_3d_goal
catkin_make --source Experiment/toolkit/uav_utils --build build/toolkit/uav_utils
catkin_make --source Experiment/toolkit/LiDAR_IMU_Init --build build/toolkit/LiDAR_IMU_Init
catkin_make --source Experiment/toolkit/selected_points_publisher --build build/toolkit/selected_points_publisher
```

## 1.3 控制
```bash
catkin_make --source Modules/uav_control --build build/uav_control
```

## 1.4 规划
```bash
catkin_make --source Modules/uav_plan/ego_planner_v2/main_ws --build build/uav_plan/ego_planner_v2/main_ws
```

## 1.5 穿圆
### 1.5.1 yolo圆环检测识别
```bash
catkin_make --source Modules/uav_detection/yolov5_tensorrt_v5.0/tensorrtx --build build/uav_detection/yolov5_tensorrt_v5.0/tensorrtx
```

### 1.5.2 穿圆
```bash
catkin_make --source Modules/uav_circle/yolo_ring --build build/uav_circle/yolo_ring 
```

## 1.6 降落
### 1.6.1 对地相机驱动
```bash
catkin_make --source Experiment/sensor/camera_pub --build build/sensor/camera_pub
```

### 1.6.2 对地二维码检测
```bash
catkin_make --source Modules/uav_detection/object_detection --build build/uav_detection/object_detection
```

### 1.6.3 固定降落
```bash
catkin_make --source Modules/uav_auto_land/autonomous_landing --build build/uav_auto_land/autonomous_landing
```

### 1.6.4 移动降落
```bash
catkin_make --source Modules/uav_plan/perch --build build/uav_plan/perch
```



# 二、启动

## 2.1 动态降落

二维码检测：获取二维码在相机坐标系下的位置

```Bash
roslaunch prometheus_detection market_landpad_det.launch
```

触发条件

```Bash
rostopic pub /uav0/prometheus/switch/landpad_det std_msgs/Bool "data: true" 
```

target_ekf_sim_node：通过EKF处理二维码惯性系下位置信息，估计二维码的位置、移动速度

```Bash
roslaunch landpad_ekf landpad_ekf.launch
```

nodelet：通过二维码在相机坐标系下的位置、无人机姿态位置信息，解算二维码惯性系下位置信息

 获得二维码的位置、移动速度后，根据无人机位姿信息，规划轨迹

```Bash
roslaunch planning perching_ekf.launch
```

考虑加ToF，在降落最后阶段判断强制上锁降落。

### 节点图

![](./move_landing.png)

# 比赛修改流程

飞控校准传感器

修改规划航路点exp.launch 规划限制高度

修改task_complete.launch 任务点

修改advanced_param_exp.xml中穿圆后规划点

修改穿完第一个圆后的控制yaw的数据

圆的检测直径范围yolov5_ros.cpp      759行    if (fabs(diameter) < 1.7 && fabs(diameter) > 0.4)

穿圆过程中的控制增益 

穿圆过程z写死，修改z

使用rtk lidar融合定位，修改定位源话题

## 优化Tips

提高速度

飞行前先时间同步