Control a ROS-enabled UAV (Functionality)

The teleoperation application is a prototype of a fully working application yet has not optimised in areas such as functionality and appearance to be commercially available. The application consists of three main screens. The first screen appears when the application is loaded as the central hub (fig.1). From this point, the operator has a complete overview of the sensors’ feedback. It shows data collected from the GPS unit, the IMU unit and the sonar, which measures the distance from the ground. In addition, in this screen the operator can enable the control tab. This tab provides the ability to control the linear velocity in the plane, x and y direction, as well as change the heading by manipulating the angular velocity in the z direction. This tab includes also the altitude lock mode. More precisely, the user can adjust the constant distance from the ground in which the UAV flies. Whenever the operators need to freeze the UAV (zero the velocities components of the control), they just have to toggle the enable/disable button. In this procedure the altitude remains constant. Finally, it contains a button to disconnect from the UAV and to terminate the application.

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fig.1

The second screen shows the exact location of the UAV in a map (fig.2). It takes the longitude and the latitude from the on-board GPS unit. The third screen shows the streaming video of the on-board front camera (fig.2). The user having locked the altitude could also drive the UAV from this screen.

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fig.2

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