Kumquad

April Tag based Localization for MAV

Workspace Setup

mkdir -p april_ws/src && cd april_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/cmu-quadcopter/Kumquad/master/.rosinstall
wstool update -t src
rosdep update
rosdep install --from-paths src --ignore-src -r -y

catkin init

Workspace Build

catkin build

Usage

Run with bag file

roslaunch kumquad iris_bluefox_fisheye.launch live:=false

Run with live camera

roslaunch kumquad iris_bluefox_fisheye.launch