🚀 Autonomous Kamikaze Drone Project

This project demonstrates a drone that detects and tracks vehicles using YOLOv8 in a Gazebo simulation, running with PX4 and MAVROS, and autonomously flies towards them.

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🛠 Installation Instructions

Follow these steps from scratch if you are setting up on a fresh machine:

1. Install WSL2 and Ubuntu

   • Install WSL2 on Windows and Ubuntu 20.04 LTS.

2. Install ROS Noetic

   sudo apt update
   sudo apt install ros-noetic-desktop-full

3. Install MAVROS

   sudo apt install ros-noetic-mavros ros-noetic-mavros-extras
   sudo apt install geographiclib-tools
   sudo geographiclib-get-geoids egm96-5

4. Install PX4 Autopilot

   git clone https://github.com/PX4/PX4-Autopilot.git --recursive
   cd PX4-Autopilot
   bash ./Tools/setup/ubuntu.sh --no-nuttx

5. Install Gazebo Classic (for ROS-Gazebo simulation) PX4 setup will install it automatically, but ensure gazebo-classic is linked with ROS.

6. Clone this repository

   cd ~
   git clone https://github.com/symphl/drone_project.git
   cd drone_project

7. Setup your ROS workspace

   mkdir -p ~/catkin_ws/src
   cd ~/catkin_ws/src
   ln -s ~/drone_project/drone_control .
   cd ~/catkin_ws
   catkin_make
   source devel/setup.bash

8. Copy the Modified Iris Model

   • Replace your PX4 iris model with the provided iris.sdf.jinja:

   cp ~/drone_project/modified_px4/Tools/simulation/gazebo-classic/models/iris/iris.sdf.jinja ~/PX4-Autopilot/Tools/simulation/gazebo-classic/models/iris/

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🏃 Running the Project

Open 5 Terminals and follow these steps:

Terminal 1: Launch PX4 SITL

cd ~/PX4-Autopilot
DONT_RUN=1 make px4_sitl_default gazebo-classic_iris
source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/simulation/gazebo-classic/sitl_gazebo-classic
roslaunch px4 posix_sitl.launch

Terminal 2: Launch MAVROS

source ~/catkin_ws/devel/setup.bash
roslaunch mavros px4.launch fcu_url:=udp://:14540@127.0.0.1:14557

Terminal 3: Start Vehicle State Monitor Node

source ~/catkin_ws/devel/setup.bash
rosrun drone_control vehicle_state_monitor.py

Terminal 4: Start Target Tracking Controller Node

source ~/catkin_ws/devel/setup.bash
rosrun drone_control target_tracking_controller.py

Terminal 5: Visualize Processed Image using rqt

rqt

# Then open "Plugins" > "Visualization" > "Image View"
# Select topic: `/processed_image`

⚠️ Disclaimer

This project is intended solely for educational and research purposes.
It is not recommended for real-world surveillance, tracking, or operational use.
If you choose to use it beyond educational settings, you are solely responsible for any outcomes, liabilities, or consequences.