CoppeliaSim Quadcopter interfacing with ROS

A Quadcopter geofencing simulation.

Dependencies

ROS Melodic Morena install the desktop version (ros-melodic-desktop)

Coppelia Sim

python shapely

sudo apt install python-shapely

Steps

1. Start roscore.

roscore

2. Start coppeliasim (through GUI or a new terminal)

path_to_coppeliasim/coppeliaSim.sh

3. Open the simulation in CoppeliaSim - the latest is in SimulationFiles/Demo Simulations/parkscene.ttt. The boundaries for the geofence are in the parkscene.geojson file.

Note: The final demo, using the pulchowk campus geojson map is in the sprint_pulchowk_obj.ttt file in the same folder

To run the breach detection test with manual w a s d keyboard control:

./manual_control_breach_test.sh

To run the path planning test:

./path_follow_test.sh

Then press the 'o' key in CoppeliaSim to record the start point (which right now is the point where the drone is at) Note: the end points can be changed by changing the end_point variable in catkin_ws/src/path_planner/scripts/main.py

To run breach detection in a new geojson file:

Source the setup file:

source setup.sh

Start the breach detector and rerouter script in two new terminals as:

rosrun geofencer breach_detector.py [geojson file for scene]

rosrun geofencer control.py

To run the path planner in a new geojson map:

Source the setup file:

source setup.sh

rosrun path_planner main.py [geojson file for scene]

Note: The pulchowk map's offseted coordinates are in the Offsetted_Map.png file

To run the waypoint follower:

./waypoint_test.sh

to change/add waypoints - edit the waypoints list in catkin_ws/src/path_planner/scripts/waypoint.py