IROLS Intelligent RObotic Landing System This package is intended for use with a ROS-controlled quadrotor to allow it to land on a moving platform. This is done with a visual feedback from a camera. Heavy emphasis was placed on simulation in Gazebo with the gazebo_ros package. Everything is tested on my desktop with Gazebo 6.6.0.

The quadcopter model is basiacally a modified 3DR Iris model from PX4 with some small modifications. The rover is taken from gazebosim.org again with some modifications (changed friction model, added landing platform, attached ros skid steer controller, etc).

Dependencies for running the simulation include ROS, Gazebo7, PX4Firmware.

Run simulation source scripts/setup_gazebo_ros.bash /abs/path/to/PX4/Firmware ... Lots of other things. Among them, irols_landing.launch,irols.launch,action.launch,ekf.launch,commander.py

Rover control is exerted at /p3at/cmd_vel with a geometry_msgs/Twist msg. The pioneer_*.py nodes take care of moving the rover. NB: in some installations of Gazebo, the rover has faulty inertial settings (I think) and it flips over when the wheels move. Good luck. The downward-facing camera is exposed in the namespace /camera1.