「オープンソースを用いた ... - TOPPERS

1 2016 SWEST18 s2b ROS OSS / Dronecode ROS AI ROS Dronecode .Dronecode . / etc (1) Dronecode FCpixmini(3DR )pixhawkardupilot GPS, , I/O I/O (2) Dronecode FC ( )NAVIO+(3) FC I/O FC CPU( ) FC or I/O (DJI )A2(Airware )

2 FlightCore (1)Dronecode (2) Dronecode+ ROS MAVLink FC ROS ROS MAVLink OSS ROS 3 SLAM . (3) + SDK Phantom4 SDK DJI MATRICE NVIDIA GPU (4) DJI Phantom4(5) SLAM MANIFOLD(DJI MATRICE )MATRICE100 + MANIFOLD(6) Snapdragon (1)3D 3D 3D CAD Web (2)

3 IaaS/PaaS GPU SDK GUI (3) IoT (4) AWS, GCP, Azure IoT / 1 (NASA) OSS Dronecode MAVLink GCS.

4 Compatible GroundControlStations MAVLink Dronecode / 3 SoraPass CLUE DroneCloud 2 Dronecode FC ROS OSS ROS 1 IntidFloat64 posTimestamp ts IntidFloat64 posTimestamp ts Linux ROS 2 rosbag bag rvizGazebo ROS +3D rqt ROS ardron_autonomyParrot ARDrone ROS

5 Tum_simulatorbebop_autonomyParrot BebopDrone ROS IMU GPS IMU GPS Gazebo IMU GPS +ROS OSS OpenCVPCLOMPL Octomap 3 FCL ROS Web RobotWebTools rosbridgeroslib ROS JSON Javascript Websocket Javascript TCP / mjpeg_server rosbridge JS JS roslib HTML5 Canvas WebGL 2d 3d ROS Web ROS 2016 2 ROS 3 UAV SLAM Dronecode ROS MAVLink ROS SDK API

6 ROS JSON DB RobotWebTools rosbag ROS OSS IoT IoT 2014/11 FC or Dronecode / IoT Parrot ARDRone Bebop, Bebop2.

7 2 ROS PC / IoT LAN ParrotBebop / Bebop2 Phenox2 Web ROS ROS / /Gazebo Gazebo ROS Web Gazebo PC DB ROS Web SV 1 SLAM SLAM GPS Octomap 3 SLAM

8 Web ROS roslib Web Gazebo rospy web DB ROS Python ROS launch ROS ROS launch SIGTERM rospy roscpp

9 1 1 Nodelet launch launch 6 DoF fps 20fps roscpp OMPL FCL PID