ROS-based-delivery-drone

Hardware requirement

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

Software requirement

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

ROS Network

detection node

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

vision navigation node

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

drone control node

Detail Refer to Repo V3.0

Onboard dron_control_node

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

Offboard offboard/dron_control_node

Type	Topic	Data_type
Subscriber	/drone/current/control_status	Custom Message GetDroneState
Publisher	/drone/set/control_status	Custom Message SetDroneState

servo node

Detail Refer to Repo V1.5

Type	Topic	Data_type
Subscriber	/servo/angle	Custom Message AllServoAngle

control GUI node

Ros Topic list

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