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uav_dataset_generation_ros

This is a ROS 2 package for automated generation of large UAV synthetic datasets. It currently supports generation of synchronized 3D position trajectories, GPS coordinates, IMU readings, RGB and depth images.

https://github.com/mzahana/uav_dataset_generation_ros

Science Score: 44.0%

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Repository

This is a ROS 2 package for automated generation of large UAV synthetic datasets. It currently supports generation of synchronized 3D position trajectories, GPS coordinates, IMU readings, RGB and depth images.

Basic Info
  • Host: GitHub
  • Owner: mzahana
  • License: mit
  • Language: Python
  • Default Branch: main
  • Homepage:
  • Size: 34.2 KB
Statistics
  • Stars: 1
  • Watchers: 1
  • Forks: 4
  • Open Issues: 0
  • Releases: 0
Created over 2 years ago · Last pushed over 2 years ago
Metadata Files
Readme License Citation

README.md

uavdatasetgeneration_ros

This is a ROS 2 package for automated generating of large UAV datasets. It currently supports generation of synchronized 3D position trajectories, GPS coordinates, IMU readings, RGB and depth images.

NOTE This work is submitted for publication to ICUAS 2024. Dataset will be released upon acceptance.

Dependencies

  • ROS 2 humble + Gazebo garden
  • PX4 Atuopilot

Installation

The simulation deveopment environment is available in a self-contained docker image. First follow the instructions at d2dtrackersimdocker

Run

  • Combile the workspace using colcon build

  • Source the workspace source install/setup.bash

  • Launch Simulation: In your first terminal, initiate the simulation by running:

    bash ros2 launch uav_dataset_generation_ros random_trajectories.launch.py

    Upon execution, Gazebo should display a quadcopter.

  • Run QGroundControl: Open a second terminal and launch QGroundControl:

    bash ./QGroundControl.AppImage

    This action should showcase the quadcopter within QGroundControl.

Once the setup is complete, initiate takeoff and switch to offboard mode to observe the drone execute random trajectories within the simulation environment.

Citation

If you use this repository, please cite @software{Abdelkader_uav_dataset_generation_ros_2024, author = {Abdelkader, Mohamed and Gabr, Khaled}, month = jan, title = {{uav_dataset_generation_ros}}, url = {https://github.com/mzahana/uav_dataset_generation_ros}, version = {1.0.0}, year = {2024} }

Owner

  • Name: Mohamed Abdelkader Zahana
  • Login: mzahana
  • Kind: user
  • Location: Saudi Arabia and UAE
  • Company: Systemtrio; Prince Sultan University

interests: - Control - Robotics (multi-agent systems) - Drones - PX4

Citation (CITATION.cff) 

cff-version: 1.2.0
message: "If you use this software, please cite it as below."
authors:
- family-names: "Abdelkader"
  given-names: "Mohamed"
  orcid: "https://orcid.org/0000-0002-0518-852X"
- family-names: "Gabr"
  given-names: "Khaled"
  orcid: "https://orcid.org/0009-0009-8275-8301"
title: "uav_dataset_generation_ros"
version: 1.0.0
date-released: 2024-01-31
url: "https://github.com/mzahana/uav_dataset_generation_ros"

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Dependencies

setup.py pypi
  • setuptools *