Setting up the mission

For the Kinect, our workstation computer requires us to run Protonect prior to using the kinect2_bridge software. If you have trouble launching the kinect2_bridge software, use the following command before you begin:

$ ./libfreenect2/build/bin/Protonect

Verify that Protonect shows color, depth, and IR images and that none of the screens are black. Be aware that Protonect has three optional parameters: cl (for OpenCL), gl (for OpenGL) or cpu (for CPU support). These options can be useful for testing the Kinect v2 operation.

If Protonect has successfully brought up the Kinect image, then press Ctrl + C to close this window. The kinect2_bridge and kinect2_viewer should then work properly until the system is restarted.

Next, we must determine how to identify our robots within the frame of the Kinect image.

Detecting Crazyflie and a target

For our Crazyflie and target location, we have prepared markers to uniquely identify them in our lab environment. For the Crazyflie, we...