ros2_ws packages
The main packages are vision_package and visual_navigation
vision_package
Includes nodes for running image detection and debugging related to it. The main node is object_detector.py, which runs YOLO tracking and detection on an image topic and publishes its detections. Check the dedicated page for more.
visual_navigation
Nodes related to localisation of the drone based on camera feeds. Currently has VSLAM and our custom point odometry algorithm. Check the dedicated page for more.
argus-kitten
Forked from isaac_ros_argus_camera from NVIDIA to allow specifying the camera mode to use. Check the ‘argus-kitten’ page for more.
isaac_ros_common
Another fork from NVIDIA’s isaac_ros_common repository. Our changes have been mostly to improving the devcontainer tooling it has. Check the ‘Development container’ page for more info on changes
kitten_sim
Things related to running IsaacSIM
px4_handler
Mostly used by the 2024 team for the ball_finder.py node. Also includes offboard_control node for sending commands to the drone