Gimbal Tracking

Gimbal state machine for TAC mission, including visual tracking

This is a ROS repolsitory for controlling a three axis gimbal and track a visual target.

Dependencies

• Three axis Alexmos32 gimbal (fw. 2.63b0) (Copterlab FLIR Boson was used)
• Detections as Detection2DArray ROS msg.

Current States

• Home
• Tracking
• Return_To_Home

Home

Default position of the gimbal

Tracking

When a detection arrives the gimbal will track the target

Return_To_Home

Gimbal will go to home position

Usage

1. Clone into your catkin workspace
2. Build and source
3. Run with rosrun