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Rasendriya

'Rasendriya Logo'
Rasendriya is a lightweight fixed wing UAV from AUAV UI for Tübitak International Unmanned Aerial Vehicle (UAV) Teknofest Competition in Afyonkarahisar, Turkey.

For Teknofest 2022, Rasendriya has two missions: Flying in 8-figure track, and flying in oval track for 3 laps while dropping two payloads in a designated dropzone. The designated dropzone must be found autonomously by using computer vision system.

Setup

Prerequisites

  • ROS Noetic Ninjemys

Companion Computer

  • Ubuntu Server with Lubuntu 20.04 LTS for Raspberry Pi 4B

Libraries

  • OpenCV 4.2.0

ROS Packages

  • MAVROS

Headless Setup

vnc Remote Desktop

Install vnc server
sudo apt update
sudo apt install x11vnc
Run vnc server
sudo x11vnc -display :0 -auth guess

Launching Headless

SSH

Connect your ground control station to vehicle SBC via ssh
ssh device_name@ip_address
For odroid:
ssh [email protected]

ROS

roslaunch rasendriya mission.launch

ROS configure

Set devel path in bashrc first
sudo nano ~/.bashrc
then add this in the last line
source /home/pi/catkin_ws/devel/setup.bash