How purdue-arc/arc-drone-delivery works
ARC Drone Delivery is a ROS 2/PX4 drone-delivery monorepo, with simulation and supporting planning and perception tools. A representative mission starts from an operator or mission request, uses navigation and mapping to transit, detects an AprilTag for precision landing, and sends flight commands to PX4. The tree and README support these product areas, but do not expose the full website, obstacle-avoidance, octree, or mission wiring. Edges therefore show only relationships stated in the README or sampled launch/source excerpts.
Main entry points: mission_controller.cpp Mission Controller · landing_pipeline.launch.py Landing Pipeline · apriltag_detector.cpp AprilTag Detector · landing_controller.cpp Landing Controller
Components 20
Mission And Landing
- Landing Pipeline
navigation-stack/DD_Nav_WS/dd_gazebo_ws/src/vision_landing/launch/landing_pipeline.launch.py - Mission Controller
navigation-stack/DD_Nav_WS/dd_gazebo_ws/src/vision_landing/src/mission_controller.cpp - Landing Controller
navigation-stack/DD_Nav_WS/dd_gazebo_ws/src/vision_landing/src/landing_controller.cpp - AprilTag Detector
navigation-stack/DD_Nav_WS/dd_gazebo_ws/src/vision_landing/src/apriltag_detector.cpp - ZED Streamer
landing/zed_apriltag_streaming/src/zed_gst_pipeline.cpp
Navigation And Mapping
- Nav2 Path Bridge
navigation-stack/DD_Nav_WS/dd_gazebo_ws/src/vision_landing/src/nav2_path_bridge.cpp - FAST-LIO Mapping
navigation-stack/DD_Nav_WS/dd_gazebo_ws/src/fast_lio/src/laserMapping.cpp - LIO Odometry Bridge
navigation-stack/DD_Nav_WS/dd_gazebo_ws/src/vision_landing/src/lio_odom_bridge.cpp - Costmap To Cloud
navigation-stack/DD_Nav_WS/dd_gazebo_ws/src/vision_landing/src/costmap_to_cloud.cpp - Cloud To Scan
navigation-stack/DD_Nav_WS/dd_gazebo_ws/src/vision_landing/src/cloud_to_scan.cpp - Flight-Level Filter
navigation-stack/DD_Nav_WS/dd_gazebo_ws/src/vision_landing/src/flight_level_filter.cpp - Navigation Launch
navigation-stack/DD_Nav_WS/dd_gazebo_ws/src/drone_nav/launch/navigation.launch.py
Sensors And Transforms
- Livox Driver
navigation-stack/DD_Nav_WS/dd_gazebo_ws/src/livox_ros_driver2/src/livox_ros_driver2.cpp - Odometry And TF
navigation-stack/DD_Nav_WS/dd_gazebo_ws/src/drone_nav/src/odom_publisher_broadcaster.cpp
Planning And Visualization
- Path Algorithms
navigation-stack/DD_Nav_WS/Path_Planning/a_star.cpp - Avoidance Visualizer
avoidance-viz/gui.py
Other components
- Operator
- PX4 Flight Controller
- Video Stream
- LiDAR Sensor
Connections 14
- Operator → Mission Controller: starts mission
- Landing Pipeline → AprilTag Detector: launches
- Landing Pipeline → Mission Controller: launches
- Landing Pipeline → Landing Controller: launches
- Video Stream → ZED Streamer: sends video
- ZED Streamer → AprilTag Detector: decodes stream
- AprilTag Detector → Mission Controller: publishes target pose
- Mission Controller → PX4 Flight Controller: sends flight commands
- Landing Controller → PX4 Flight Controller: publishes setpoints
- Livox Driver → FAST-LIO Mapping: provides LiDAR data
- LiDAR Sensor → Livox Driver: sends scans
- FAST-LIO Mapping → LIO Odometry Bridge: provides odometry
- Costmap To Cloud → Cloud To Scan: converts cloud
- Navigation Launch → Odometry And TF: launches