128 lines
3.8 KiB
Markdown
128 lines
3.8 KiB
Markdown
XbeeMav
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=========================
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Description:
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============
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XbeeMav allows to configure, test and communicate with Xbee devices through ROS, and specifically through [mavros](http://wiki.ros.org/mavros).
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Requirements
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============
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* ROS **base** binary distribution (Indigo or Kinetic):
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The steps for installing ROS Kinetic on Ubuntu are detailed [here](https://wiki.ros.org/kinetic/Installation/Ubuntu).
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* ROS additionnal dependencies:
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You will need the [mavros](http://wiki.ros.org/mavros) packages.
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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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* XCTU
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You will need the XCTU application for the initial configuration of new XBees.
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It can be downloaded [here](https://www.digi.com/products/iot-platform/xctu#productsupport-utilities).
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* XBee modules
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We have tested this with the [Digi XBee-PRO 900HP](https://www.digi.com/products/embedded-systems/rf-modules/sub-1-ghz-modules/xbee-pro-900hp), the [Digi XBee SX (900MHz)](https://www.digi.com/products/embedded-systems/rf-modules/sub-1-ghz-modules/xbee-sx) and the [Digi XBee SX 868](https://www.digi.com/products/embedded-systems/rf-modules/sub-1-ghz-modules/digi-xbee-sx-868).
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Configure the XBees.
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===========
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You first need to put the right configuration on the XBees using XCTU.
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We provide some profile files for both XBee modules we have used in `Resources/xctu_profiles`:
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- [xbee_pro_900_hp.xpro](Resources/xctu_profiles/xbee_pro_900_hp.xpro) for the Digi XBee-PRO 900HP.
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- [xbee_sx.xpro](Resources/xctu_profiles/xbee_sx.xpro) for the Digi XBee SX and Digi XBee SX 868.
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In order to load the profiles, open XCTU and connect the XBee module to your computer.
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You will first need to add the XBee module. You can do so by clicking on the **Discover radio modules** button:
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Select the port where you have connected the XBee, the parameters to search for, and scan.
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The XBee module should be found, and you can then start configuring it.
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From the configuration operating mode:
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You can load the appropriate configuration profile from `Resources/xctu_profiles` by selecting the **Load configuration profile** option:
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XCTU might ask to update the firmware to load the profile.
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Update the database.
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===========
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In order for your XBee module to be recognized, it is necessary to add it to the database file.
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To do so, you need to find the MAC address of your XBee module.
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If you added the module to XCTU, you can read it directly from XCTU:
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The MAC address is also written directly on the module:
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Now, you have to add the MAC address to the [Resources/database.xml](Resources/database.xml) file.
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Add a line within the `<Addresses>` and `</Addresses>` tags with the following format, replacing N by an integer ID not yet used in the database file, and MAC_ADDRESS by the MAC address of your XBee module:
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```
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<Device Address= "N" >MAC_ADDRESS</Device>
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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/XbeeMav xbeemav
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cd ..
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catkin_make
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```
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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 XbeeMav package using the launch file, execute the following:
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```
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roslaunch xbee_ros_node xbeemav.launch
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```
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Publishers
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-----------
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* /inMavlink [mavros_msgs/Mavlink]
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Subscribers
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-----------
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* /outMavlink [mavros_msgs/Mavlink]
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Services
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-------
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* /network_status [mavros_msgs/ParamGet]
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This service can take 3 values:
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1. `id` for the network id for the XBee module registered in the [database.xml](Resources/database.xml) file.
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2. `rssi` for the signal strength of last message received.
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3. `pl_raw_avg` for the average packet loss. |