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directory_structure.md

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Directory Structure of the package

This is a ROS Package and the basic layout is the same as any ROS package.

  • action
    • Holds all the actions created
    • move.action - action for movement along a trajectory
  • include
    • holds any libraries that need to be included
  • launch
    • holds all the launch files
    • aruco_mapping.launch - starts the aruco mapping functionality
    • for_real_map.launch - motion planning using moveit for real world
    • for_simulated_map.launch - motion planning using moveit for simulated environment
    • localisation.launch - start functionality for using EKF (untested)
    • simulator.launch - launch simulator
    • single_aruco.launch - following a single aruco marker
  • msg
    • holds custom ros messaged created
    • pid_error.msg - holds array data used to store pid errors
  • scripts
    • holds python scripts related to the functionality of the package
    • ardrone teleop key.py - Handle Control of drone using keyboard
    • pose.py - Class for pose storage
    • localisation.py - Handle usage of EKF
    • kalman filter.py - Implimenation of Extended Kalman Filter
    • move to waypoint.py - Get drone to follow generated Trajectory
    • follow trajectory.py - Extract, generate and send trajectory for excecution
    • pid.py - Generic PID implimentation
    • transform handler.py - Generate transform between drone’s odom and aruco’s world

The other folders added are as follows

  • aruco_models
    • holds gazebo aruco_models needed for simulation
  • camera_calibration_files
    • holds the camera calibration files for ardrone
    • it is recomended that you create these files on your own
  • Documents
    • holds all the documents prepared related to the project
  • install_scripts
    • holds bash scripts for installing packages automatically
    • complete_install.sh - installs everything needed for the use of this project
  • worlds
    • holds the test worlds that we had created
    • small_world.sdf - small test world created
    • small_world_with_aruco.sdf - small test world created with arucos loaded

Difference in other branches

  • whycon
    • whycon_formation_data
      • holds files and scripts used for training formation based identification of whycon
      • *.txt files are data collected
      • *.p files are pretrained models
      • store_formation_data.py - data collection script
      • extract_results_from_whycon.py - using the data to train and draw inferences
    • scripts
      • detect_whycon.py - using pretrained objects to find the the current formation group