PX4 Drone Precision Landing Gazebo Simulation

Описание

Gazebo simulation of the precision landing of a PX4 drone.
A ROS2 node reads the image from the down-looking camera and finds matches between the known pattern of the landing pad and the one detected from the camera. The obtained bounding box (red) is filtered to get a smoother one (green). From the bounding box we obtain the relative position of the landing pad which is sent to the precision landing state machine implemented by PX4.

Developed in 2022 in collaboration with Federico Soffritti.