LASIGE-Summer-Internship-2025

Project Overview

This project explores the integration of drones with Android systems, focusing on AprilTag detection and simulation environments. It provides tools for simulation in Gazebo and ROS2-based AprilTag detection packages.

Unfortunately the Android integration part was not possible, due to multiple technical reasons, explained in detail in the scientific paper.

Folder Structure

• gazebo_simulations/: Contains Gazebo simulation models and worlds. Use this for running simulations.
• paper_and_poster/: Includes project documentation and presentation materials.
• src/: ROS2 packages for AprilTag detection and related functionalities.

Build Instructions

1. Clone the repository.
2. Navigate to the root folder.
3. Run:

   colcon build --symlink-install

Running the Simulation

1. Set the Gazebo resource paths:

   export GZ_SIM_RESOURCE_PATH=$HOME/GZ/gazebo_simulations/models:$HOME/GZ/gazebo_simulations/worlds

2. Source the ROS2 Jazzy environment:

   source /opt/ros/jazzy/setup.bash

3. Launch the simulation using the provided scripts in gazebo_simulations/. Ex:

gz sim helton.sdf

4. In another terminal, run one of the pkgs launch files, for ex:

ros2 launch gz_detect_2 follow_tag_launch.py