CoBRA-Challenge

ROS2 Node from PIDTeam for CoBRA-Challenge

Challenge with small autonomous airships for payload grasping and delivery.

This approach uses 3D localization and navigation with AprilTag-based vision and closed-loop control for guidance and positioning.

Prerequisites

Must be installed both on PC and remote Raspberry Pi (tested on Pi5)

• Ubuntu 24.04
• ROS2 Jazzy

Additional ROS packages needed

sudo apt install ros-$ROS_DISTRO-image-transport-plugins
sudo apt install ros-$ROS_DISTRO-apriltag-ros
sudo apt install ros-$ROS_DISTRO-camera-ros
sudo apt install ros-$ROS_DISTRO-image-pipeline
sudo apt install ros-$ROS_DISTRO-tf-transformations

Useful commands

• Launch rviz:

ros2 run rviz2 rviz2

• Launch rqtgraph:

rqt_graph

• Launch rqt_plot:

ros2 run rqt_plot rqt_plot

• Compile et launch nodes on Raspberry Pi:

colcon build && ros2 launch cobrapid_pi cobrapid_pi.launch.py

• Display all avaliable nodes:

ros2 node list

• Display all avaliable topics:

ros2 topic list

• Display topic data type:

ros2 topic info /name_of_topic

• Display topic publication frequency:

ros2 topic hz /name_of_topic

• Display topic data in real time:

ros2 topic echo /name_of_topic