Collaborative Mapping using a Quadrotor and Quadruped

Author: Pushkar Dave
This repository contains the packages, scripts, and the STL files for my MSR Winter Project
More details about this project can be found on my website: Pushkar's Portfolio

Package Descriptions

• pi_mapping : This package runs on the Raspberry Pi to launch the Oak-D camera nodes, the IMU node, and sync the image topics using rtabmap_sync
• remote_rtabmap: This package runs on the remote workstation (System76 Linux laptop), and launches all the required RTABMap nodes - rtabmap_slam, rtabmap_odom, rtabmap_viz, and rtabmap_relay
• rpi_control: This package runs in a Docker container on the Raspberry Pi on the quadrotor. It has a control node, which has multiple services to arm, disarm, takeoff, land and command the quadrotor to follow a polygonal trajectory.
• rpi_interfaces: This package contains all the interface definitions for the rpi_control package.
• go1_exploration: This package implements a frontier exploration node, to generate new target goal positions for the quadruped. Currently, this is used for visualization purposes.
• scripts: This is a collection of shell scripts to control the quadrotor, and start the mapping session.