📚 ROS 2 UAV Tracking System - README

This project is a ROS 2-based software framework for controlling a PX4-powered UAV that autonomously tracks another aircraft using both GPS-based pursuit and vision-based PID control, culminating in a simulated 'hit' confirmation.

🚀 Overview

The system consists of multiple modules including mission management (FSM), tracking control, no-fly zone monitoring, image processing, and PX4 interface. Each component runs as an independent ROS 2 node and communicates via ROS 2 topics, services, and actions.

🧩 Components

• mission_manager_node: Manages the overall mission flow including takeoff, stabilization, tracking, and return. Implements the FSM logic.

• tracking_manager_node: Manages GPS pursuit and visual tracking actions, handles transitions, and generates setpoints.

• gps_pursuit_action_server: Executes the GPS-based approach, sending progress feedback.

• follow_target_action_server: Starts a 4-second PID-based tracking phase when the target is detected by the camera.

• image_processor_node: Runs target detection (e.g., YOLO), publishing /target/relative_position and /target/detection_alert.

• px4_interface_node: Interfaces with the PX4 flight stack, sends setpoints, and publishes odometry/status.

• camera_feed_node: Captures and publishes raw camera frames.

• gps_uav_server_node: Publishes positions of other UAVs and provides a UAV list service.

• no_fly_zone_guard_node: Monitors potential no-fly zone intrusions and sends alerts when needed.

🔥 Data Flow

1. After takeoff and stabilization, mission_manager_node signals tracking_manager_node to start GPS pursuit.

2. tracking_manager_node sends a goal to gps_pursuit_action_server → GPS-based pursuit begins.

3. If the camera detects the target, GPS pursuit is canceled → a goal is sent to follow_target_action_server → 4-second PID tracking begins.

4. On completion, the FSM transitions to the next mission phase.

📡 ROS 2 Interfaces

• Topics: /offboard/set_pos, /vehicle/odometry, /vehicle/status, /target/relative_position, /target/detection_alert
• Services: /get_uav_list
• Actions: /gps_pursuit, /follow_target

This architecture supports autonomous mission execution, task cancellation, and real-time feedback mechanisms.

toygar-ros2