Prerequisite (For all laptop && R-PI) Install ubuntu 20.04 Use raspberry-pi imagerhttps://www.raspberrypi.com/software/ Network setting sudo apt install net-tools cd /etc/netplan sudo vim 50-cloud-init.yaml network: ethernets:

Recommended Tutorials :::warning A simple web interface for ROS can be fully practiced after the following tutorials. The rest of the content will be based on these tutorials and give instruction on how to construct this specific webpage for apriltag localization along with what can be improved and be done. ::: The Construct - Introduction to ROSBridge Server The Construct - Designing Frontend Webpage The Construct - Streaming Video (Images) on Webpage Overall System

deadline 2022/10/ hardware assamble qav250 software raspberry pi

[TOC] Environment Ubuntu 18.04 (ROS melodic) apriltag_ros rotorS Weekly Meeting 每週星期一晚上八點

計畫說明 利用apriltag實現無人機的自主定位,完成廠房巡邏任務 初步任務:先在模擬環境執行，再來實體實驗。 1.Gazebo模擬(預估7/18組裝無人機前完成) : 相機 : 使用兩台Realsense D435i設置於無人機上(前方以及下方) 定位方式 : 利用多張arpiltag完成無人機在世界座標的定位 目標 : 藉由apriltag定位的無人機世界座標與gazebo中的Odometry(ground truth)差距小於0.1m.

[TOC] :::info Official Website: PX4 User Guide ::: PX4 Setting Download bootloader on laptop Follow the instruction: PX4-Bootloader

[TOC] 材料 電變 : 4個 馬達 : 4個 UBEC : 1個 (12V轉5V) 飛控板 : 1個 5V轉3.3V降壓模組 : 2個 （基本為兩個，除非有其他需要可再多接） 2.4GHz Xbee Module : 1個

[TOC] Work Distribution Task members Kinova Arm Control 鄭家豪、劉劭暐

操作步驟 ==1.打開Joystick Control== 開啟jackal ugv電源 按下ps4手把的藍芽配對鍵 手把操作指令與husky一致 ==2.打開arducam AR0134== roslaunch arducam_usb2_ros trigger_capture_node.launch # using trigger mode

username: administrator password: clearpath 有線網路配置 jackal的預設ip是192.168.131.1，所以我們先幫電腦建立一個相同網域的位址： 點開settings中的network，按下ethernet旁邊的+號 選擇 IPV4 Method 為手動 設定Addresses/Netmask/Gateway

操作步驟 ==1.打開Joystick Control== cd ~/catkin_ws/src roslaunch husky_base base.launch ==2.打開IMU== cd ~/catkin_ws/src roslaunch mavros px4.launch