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Marshall

Operation Marshall is the central repository for all code for MIT's IARC mission 7 submission.

The vehicle used is a slightly modified 3DR Solo. It has been modified to add magnets on the bottom and the compass has been moved away from the magnets.

TODO insert picture

Software

The project relies on the following pieces of software:

ROS Nodes

The code used to navigate the UAV is split into multiple ROS nodes which are each in their own folders. These packages are all written in python2.7, and rely on the following imports:

  • rospy
  • dronekit-python
  • cv2

TODO sam insert flowchart

Each node has a different maintainer and purpose:

Computer Vision

Tracks Roombas in the field of view of the camera.

Maintainer: Rohan Banerjee rohanb2018

Bayesian Modeling

Estimates the positions of the UAV and the Roombas.

Maintainer: Surya Bhupatiraju suryabhupa

Path Planning

Decides where the UAV goes.

Maintainer: Simanta Gautam SimsGautam

Communications

Communicates with the UAV using dronekit. Sends commands and receives telemetry.

Maintainer: Sebastian Quilter squilter

Visualizer

Draws all known information in a convenient GUI for easier testing.

Maintainer: Chris Sweeney ChristopherSweeney

Camera Generator

Simulates the output of the camera, for use with SITL simulation.

Maintainer: Alan Cheng AlDCheng

Roomba Generator

Generates the location of fake roombas, for use with SITL simulation.

Maintainer: Brandon TODO todo

Other

Messages

A list of all ROS messages for communication between ROS nodes.

Maintainer: Sam Udotong sudotong