119 lines
4.6 KiB
Markdown
119 lines
4.6 KiB
Markdown
ROSBuzz
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=========================
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Description:
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============
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ROSBuzz is a ROS node encompassing Buzz Virtual Machine (BVM) and interfacing with ROS ecosystem for mobile robots. The only node of the package is `rosbuzz_node`. It can be used in simulation-in-the-loop using Gazebo and was tested over many platforms (Clearpath Husky, DJI M100, Intel Aero, 3DR Solos, Pleidis Spiris, etc.). More information about ROSBuzz peripheral nodes is available in [1].
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What is Buzz?
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=============
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Buzz is a novel programming language for heterogeneous robots swarms. Buzz advocates a compositional approach, by offering primitives to define swarm behaviors both in a bottom-up and in a top-down fashion. Its official documentation and code are available [Buzz](https://github.com/MISTLab/Buzz).
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Requirements
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============
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* Buzz:
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Follow the required steps in [Buzz](https://github.com/MISTLab/Buzz).
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* ROS **base** binary distribution (Indigo or higher):
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Follow the required steps in [ROS Kinetic](https://wiki.ros.org/kinetic/Installation/Ubuntu). Note that the guidance and camera node of DJI for the M100 require to use the Indigo distribution.
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* ROS additionnal dependencies:
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```
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$ sudo apt-get install ros-<distro>-mavros ros-<distro>-mavros-extras
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```
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Compilation
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===========
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```
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mkdir -p ROS_WS/src
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cd ROS_WS/src
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git clone https://github.com/MISTLab/ROSBuzz rosbuzz
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cd ..
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catkin_make -DSIM=0 -DKIN=1
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```
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Compilation Flags
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=================
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Flags to be passed during compilation.
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| Flag | Rationale |
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|-------|------------------------------------------------|
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| -DSIM | Indicates Compilation for robot or Simulation. |
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| -DKIN | Indicates compilation for ROS Distro Kinetic |
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Source ROS environment
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===========
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```
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source /opt/ros/kinetic/setup.bash
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source ~/ROS_WS/devel/setup.bash
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```
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Run
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===
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To run the ROSBuzz package using the launch file, execute the following:
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$ roslaunch rosbuzz rosbuzz.launch
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Have a look at the launch file to understand what parameters are available to suit your usage. All topics and services names are listed in `launch_config/topics.yaml`. Note : Before launching the ROSBuzz node, verify all the parameters in the launch file. A launch file using gdb is available too (rosbuzzd.launch).
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A launch file for a groundstation is also available `launch/groundstation.launch`. It uses the robot ID = 0, which is detected as a groundstation by our Buzz scripts. It also has hardcoded GPS coordinates to avoid the need of a GPS sensor on the groundstation. While a groundstation is never required to deploy a swarm with ROSBuzz, it opens a websocket on ROS, useful to monitor the swarm and it creates a rosbag of the flight.
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* Buzz scripts: Several behavioral scripts are included in the "buzz_Scripts" folder, such as "graphformGPS.bzz" uses in [1] and the "testaloneWP.bzz" to control a single drone with a ".csv" list of waypoints. The script "empty.bzz" is a template script.
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Publishers
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-----------
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* Messages from Buzz (BVM):
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The node publishes `mavros_msgs/Mavlink` message "outMavlink".
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* Command to the flight controller:
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The node publishes `geometry_msgs/PoseStamped message` "setpoint_position/local".
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* Other information from the swarw:
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The node publishes:
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- "bvmstate" (`std_msgs/String`)
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- "neighbours_pos" (`rosbuzz_msgs/neigh_pos`)
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- "fleet_status" (`mavros_msgs/Mavlink`)
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Subscribers
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-----------
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* Information from the Robot controller (mavros compliant):
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The node subscribes to:
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- "global_position/global" (`sensor_msgs/NavSatFix message`)
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- "global_position/rel_alt" (`std_msgs/Float64`)
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- "local_position/pose" (`geometry_msgs/PoseStamped`)
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- "battery" (`sensor_msgs/BatteryState`)
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- either "extended_state" (`mavros_msgs/ExtendedState`) or "state" (`mavros_msgs/State`)
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* Messages to Buzz (BVM):
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The node subscribes to `mavros_msgs/Mavlink` incoming message with name "inMavlink".
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Services
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-------
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* Remote Controller:
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The package offers a service "buzzcmd" (`mavros_msgs/CommandLong`) to control it. In the "misc" folder, a bash script shows how to control the swarm state from the command line.
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References
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------
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* [1] ROS and Buzz : consensus-based behaviors for heterogeneous teams. St-Onge, D., Shankar Varadharajan, V., Li, G., Svogor, I. and Beltrame, G. arXiv : https://arxiv.org/abs/1710.08843
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* [2] Over-The-Air Updates for Robotic Swarms. Submitted to IEEE Software (August 2017). 8pgs. Shankar Varadharajan, V., St-Onge, D., Guß, C. and Beltrame, G.
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Visual Studio Code
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--------------------
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To activate highlights of the code in Visual Studio Code or Roboware add the following to settings.json:
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```
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"files.associations": {
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"*.bzz":"python"
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}
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```
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