How to use

1. mkdir -p <workspace_name>/src && cd <workspace_name>/src

2. git clone these 4 repos

   • https://github.com/christianrauch/apriltag_ros
   • https://github.com/christianrauch/apriltag_msgs
   • https://github.com/TL-NUS-CFS/ai_deck_wrapper
   • https://github.com/TL-NUS-CFS/MissionPlanner

3. Change these lines in MissionPlanner/mission_planner/mission_planner.py for your required tags and drones

self.undetectedTags = {"tag36h11:200","tag36h11:204","tag36h11:205"}
self.doublerescue = {"tag36h11:206":2}
drones = {"cf04":True,"cf03":True,"cf05":True}

5. Change this line in MissionPlanner/launch/april_tag_launch.py for your required drones
   • drones = ["cf04","cf03","cf05"]
6. cd back to <workspace_name>
7. colcon build && source install/setup.bash
8. ros2 launch mission_planner april_tag_launch.py
   • starts apriltag streaming and processing
   • starts the mission tracking node
   • any changes to drone names and ip and targets id alter this launch file
   • will open the camera view as well
   • will print to terminal if target detected
9. python3 src/MissionPlanner/mission_planner/takeoff.py <channel>
   • sends the takeoff command
   • terminates after sending 5 times

Helper scripts

• takeoff.py

python3 takeoff.py <channel>

• land.py

python3 land.py <channel> <id>

• kill.py

python3 kill.py <channel> <id>