Edit 24 Aug 2021: I’m no longer working on this, because I realized this requires constant Aruco in sight otherwise the copter will lose its position data. I think this is not feasible to use as we need aruco placed on ground everywhere it flies. Also the flying altitude is limited as it may lose the sight from bad focusing.
Hi, does anyone remember the indoor autonomous flight tutorial in ardupilot.org ?
It was done by Raspberry Pi 3 with Pixhawk1. I am rewriting the tutorial with newer hardware, which are Pi 3B and the Cube. I hope my tutorial is easy to follow for everybody such that anyone can set it up easily. No more tutorials inside another tutorial and confusing hyperlinks!
Remark:
In this setup, a dummy GPS is set and the aruco marker board is used for positioning. This means that the GPS failsafe is actually never disabled. If the camera lost its sight on aruco board for too long, the positioning system will be turned off. You will need to restart the cube to recover the system. Therefore, I suggest using small/tiny drone for testing. I am working on possible solutions such as adding more aruco marker on ground.
Contents:
1. Hardware Setup and ROS Installation / Using the ROS in Pi
2. SSH Setup in Companion Computer and Remote Computer
3. Time Synchronization / Pi Camera and Cube Parameter Setup
4. Install Necessary Packages in ROS
5. Prepare Your Aruco Board / Camera Calibration
6. Visualization with RVIZ / Robot model
7. Program the Autonomous Path