Indoor Guided mode with Arducopter, ROS and Detection of ArUco Boards

Testing of Indoor Guided mode with DIY quadcopter with Arducopter. mavros and aruco_gridboard ROS packages was used for pose estimation. Autonomous flight via script: Takeoff, 4 setpoint with SET_POSITION_TARGET_LOCAL_NED message, Land.
Detection of ArUco Boards gives better pose estimation then single ArUco Markers.

[@bhavyanshmishra]

Hey! Could you please share your script? I am trying to do almost the exact same thing. I cannot get the quadcopter to takeoff though.

[@AndreaBelloni63]

More info here discuss.ardupilot.org/t/indoor-autonomous-flight-with-arducopter-ros-and-aruco-boards-detection/34699