Package Summary

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Version 1.3.0
License Apache License 2.0
Build type CATKIN

Repository Summary

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VCS Type git
VCS Version kinetic-devel
Last Updated 2021-02-04
CI status No Continuous Integration
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Package Description

A package that tracks a target with an unmanned aerial vehicle (UAV).

Additional Links


  • Micha Sende


  • Micha Sende


Build Status

This package tracks a target with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.


This package depends on the following message definitions: * cpswarm_msgs

The following library packages of the swarm behaviors library are required: * swarm_behaviors_position

The following packages of the swarm functions library are required: * target_monitor

Further required packages are: * roscpp * actionlib


Run the launch file

roslaunch uav_simple_tracking uav_simple_tracking.launch

to launch the uav_simple_tracking node.

The launch file can be configured with following parameters: * id (integer, default: 1) The identifier (ID) of the CPS used for name spacing in simulation. * output (string, default: screen) Whether to show the program output (screen) or to write it to a log file (log).

In the param subdirectory there is the parameter file uav_simple_tracking.yaml that allows to configure the behavior of the uav_simple_tracking node.



The uav_simple_tracking tracks a target with a UAV. The UAV moves to the position straight over the target. The position of the target is updated by the target monitor from the swarm functions library. When the target is lost, i.e., the target is not in the camera field of view anymore, the tracking aborts. When the target is done, i.e., handled by another CPS, the tracking succeeds.

Action Goal

  • uav_tracking/goal (cpswarm_msgs/TrackingGoal) A goal that starts the tracking behavior. It contains the ID of the target to track and the altitude at which to operate.

Subscribed Topics


  • ~loop_rate (real, default: 5.0) The frequency in Hz at which to run the control loops.
  • ~queue_size (integer, default: 1) The size of the message queue used for publishing and subscribing to topics.

Code API

uav_simple_tracking package code API documentation


Changelog for package uav_simple_tracking

1.3.0 (2020-01-03)

1.2.0 (2019-12-29)

  • Fixed: Handling of target rescued event
  • Changed: Refactor library structure
  • Changed: Check if movement was successful
  • Changed: Targets handled by swarm functions library
  • Fixed: Correctly handle state of behavior algorithm
  • Fixed: Force C++11
  • Contributors: Micha Sende

1.1.0 (2018-11-12)

  • Contributors: Micha Sende

1.0.0 (2018-10-30)

  • Initial release of uav_simple_tracking
  • Contributors: Micha Sende

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files


No message files found.


No service files found


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