YOLOv3-based follow-me drone application in ROS

Usage

• Launch ROS, Gazebo world

$ roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch

• Set drone position

$ ./enable_motors.sh

• Start Darknet YOLOv3

$ roslaunch darknet_ros darknet_ros.launch

• Follow-me simulation (~70FPS w/ NVIDIA GeForce GTX 1050 Ti)

$ python yollow.py

Prerequisites

• Ubuntu 18.04 LTS
• NVIDIA GPU

Setup

ROS, Darknet, CUDA Installation

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$ sudo apt install curl
$ curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
$ sudo apt update
$ sudo apt install ros-melodic-desktop-full
$ echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
$ sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
$ sudo rosdep init
$ rosdep update
$ mkdir ~/catkin_ws
$ cd ~/catkin_ws
$ wstool init src https://raw.github.com/tu-darmstadt-ros-pkg/hector_quadrotor/kinetic-devel/tutorials.rosinstall
$ sudo apt-get install ros-melodic-geographic-info
$ sudo apt-get install ros-melodic-ros-control
$ sudo apt-get install ros-melodic-gazebo-ros-control
$ sudo apt-get install ros-melodic-joy
$ sudo apt-get install ros-melodic-teleop-twist-keyboard
$ sudo apt install qt4-default
$ cd ~/catkin_ws/src
$ git clone --recursive https://github.com/leggedrobotics/darknet_ros.git
$ cd ../
$ sudo apt update
$ sudo apt install nvidia-cuda-toolkit
$ catkin_make -DCMAKE_BUILD_TYPE=Release -DCMAKE_C_COMPILER=/usr/bin/gcc-6
$ echo -e "source ~/catkin_ws/devel/setup.bash" >> .bashrc

Copy (and overwrite) below files in respective directories:

• darknet_ros.launch: ~/catkin_ws/src/darknet_ros/darknet_ros/launch/

• ros.yaml: ~/catkin_ws/src/darknet_ros/darknet_ros/config/

• act.world: ~/catkin_ws/src/hector_gazebo/hector_gazebo_worlds/world/

• start.launch: ~/catkin_ws/src/hector_gazebo/hector_gazebo_worlds/launch/

• outdoor_flight_gazebo.launch: ~/catkin_ws/src/hector_quadrotor/hector_quadrotor_demo/launch/

• quadrotor_downward_cam.gazebo.xacro: ~/catkin_ws/src/hector_quadrotor/hector_quadrotor_description/urdf/

• quadrotor_downward_cam.urdf.xacro: ~/catkin_ws/src/hector_quadrotor/hector_quadrotor_description/urdf/

• walk.dae: ~/catkin_ws/src/hector_gazebo/hector_gazebo_worlds/world/

• moonwalk.dae: ~/catkin_ws/src/hector_gazebo/hector_gazebo_worlds/world/