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oscillation_ctrl
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@ -2,8 +2,6 @@
Repo containing oscillation damping controller for tether missions + instructions how to to set up Repo containing oscillation damping controller for tether missions + instructions how to to set up
WARNING: Currently repo is only for Ubuntu 18.04 and ROS Melodic, work is being made to be upgrade to Ubuntu 20.04 and ROS Noetic
Cesar Rodriguez Cesar Rodriguez
cesar.rodriguez@spirirobotics.com cesar.rodriguez@spirirobotics.com
@ -12,69 +10,13 @@ February 2022
Steps to recreate stable PX4 environment + working repo Steps to recreate stable PX4 environment + working repo
### WARNING
Currently repo is only for Ubuntu 18.04 and ROS Melodic, work is being made to be upgraded to Ubuntu 20.04 and ROS Noetic
# Setup # Setup
## 1) Installing ROS Melodic ## 1) Set up oscillation_ctrl
### Setup sources.list
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
### Setup keys
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
### Installation
sudo apt update
sudo apt install ros-melodic-desktop-full
### Environment setup
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
### Dependencies
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
Initilize rosdep:
sudo apt install python-rosdep
sudo rosdep init
rosdep update
### PX4 Dependencies
sudo apt-get install python-catkin-tools python-rosinstall-generator -y
wstool init ~/catkin_ws/src
### MAVLINK
rosinstall_generator --rosdistro melodic mavlink | tee /tmp/mavros.rosinstall
### MAVROS
rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
### Create workspace and deps
cd ~/catkin_ws
wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y
### Install geographic datasets
cd ~/catkin_ws
sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh
### Build source
cd ~/catkin_ws
catkin build
## 2) PX4 Environment Development
Install PX4 firmware and ROS melodic dependencies:
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
git checkout 601c588294973caf105b79a23f7587c6b991bb05
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
Install [PX4 Firmware](https://docs.px4.io/main/en/dev_setup/dev_env_linux_ubuntu.html#rosgazebo). Then:
#### Download QGroundControl:
cd to desired directory to install QGroundControl. For example, Desktop
cd ~/<desired_directory>
wget https://github.com/mavlink/qgroundcontrol/releases/download/v4.2.0/QGroundControl.AppImage
chmod +x QGroundControl.AppImage
#### Build Gazebo Sim
cd ~/PX4-Autopilot
make px4_sitl gazebo
## 3) Set up oscillation_ctrl
### Install xterm ### Install xterm
sudo apt-get update -y sudo apt-get update -y
sudo apt-get install -y xterm sudo apt-get install -y xterm
@ -83,44 +25,63 @@ cd to desired directory to install QGroundControl. For example, Desktop
cd ~/catkin_ws/src cd ~/catkin_ws/src
git clone https://git.spirirobotics.com/cesar.alejandro/oscillation_ctrl.git git clone https://git.spirirobotics.com/cesar.alejandro/oscillation_ctrl.git
To get the specific version of mavros_msgs for oscillation_ctrl: ### Run bash script and build
bash /.oscillation_ctrl/px4_setup/ubuntu_sim_ros_melodic.sh
This bash script is taken from PX4 Firmware but sets certain versions of dependencies to work with oscillation_ctrl. It also installs common ROS dependencies, ROS Melodic, Gazebo 9, and MAVROS. It should build oscillation_ctrl and add the source path to your .bashrc. If it does not, then run:
cp -R ~/catkin_ws/src/oscillation_ctrl/px4_setup/rosinstall.txt /tmp/mavros.rosinstall cd ~/catkin_ws
wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y
catkin build catkin build
source devel/setup.bash
#### Now, we finish building the PX4 package If you do not want to source every time, add 'source ~/catkin_ws/devel/setup.bash' to your .bashrc
## 2) PX4 Environment Development
Install PX4 firmware and dependencies:
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
git checkout 601c588294973caf105b79a23f7587c6b991bb05
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
There will be prompts on the screen, hit 'u' and 'enter' as they come up.
### Add models, world, and airframe files
To add the necessary Spiri Mu files to PX4, run:
cd ca
bash /.oscillation_ctrl/px4_setup/px4_bash.sh
### Add airframes to cmake targets
add 'spiri' and 'spiri_with_tether' airframe names in _~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake_ under set(models...
__do not add their airframe number! e.i. 4000 or 4001__
### Download QGroundControl:
cd to desired directory to install QGroundControl. For example, Desktop.
cd ~/<example_Desktop>
wget https://github.com/mavlink/qgroundcontrol/releases/download/v4.2.0/QGroundControl.AppImage
chmod +x QGroundControl.AppImage
### Finish Building PX4 package
cd ~/PX4-Autopilot cd ~/PX4-Autopilot
DONT_RUN=1 make px4_sitl_default gazebo DONT_RUN=1 make px4_sitl_default gazebo
If if fails and you see
gzerver: symbol lookup error...
then run:
sudo apt upgrade libignition-math2
If all is good, run:
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd) export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
roslaunch px4 posix_sitl.launch roslaunch px4 posix_sitl.launch
If this works, we can move on. PX4 should launch with MAVROS
### Add files to tools/sitl_gazebo
copy (or add) files in _oscillation_ctrl/models_ and _oscillation_ctrl/worlds_ to _PX4-Autopilot/Tools/sitl_gazebo/models_ and _PX4-Autopilot/Tools/sitl_gazebo/worlds_ respectively
cp -R ~/catkin_ws/src/oscillation_ctrl/models/* ~/PX4-Autopilot/Tools/sitl_gazebo/models
cp -R ~/catkin_ws/src/oscillation_ctrl/worlds/* ~/PX4-Autopilot/Tools/sitl_gazebo/worlds
### Add files to ROMFS/px4mu_common
copy (or add) files in _oscillation_ctrl/airframes_ to _PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes_
cp -R ~/catkin_ws/src/oscillation_ctrl/airframes/18.04/* ~/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes
add model names to _CmakeLists.txt_ in same 'airframe' folder (with number... 4000_spiri and 4001_spiri_with_tether)
add airframe name in _~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake_ (no number!)
### Add necessary launch files
this should not be a necessary step and will be changed in the future
copy (or add) files from px4_launch directory to '~/PX4-Autopilot/launch'
cp -R ~/catkin_ws/src/oscillation_ctrl/px4_launch/* ~/PX4-Autopilot/launch
#### Change devel/setup.bash #### Change devel/setup.bash
In catkin_ws (or any working directory) add to devel/setup.bash: In catkin_ws (or any working directory) add to devel/setup.bash:
@ -144,16 +105,6 @@ Finally, source your setup.bash file
- First two elements can be changed to tweak tether parameters - First two elements can be changed to tweak tether parameters
- number_elements: number of segments tether will be composed of - number_elements: number of segments tether will be composed of
- tl: segment length (should be no shorter than 0.3 meters) - tl: segment length (should be no shorter than 0.3 meters)
- __IMPORTANT:__ in order for jinja file to work, the following needs to be added to the _CMakeLists.txt_ in the _~/PX4-Autopilot/Tools/sitl_gazebo_ folder. This creates a custom command to build the tether file whenever a change is done to it.
COMMAND
${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py models/spiri_with_tether/spiri_with_tether.sdf} ${CMAKE_CURRENT_SOURCE_DIR}
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py models/spiri_with_tether/spiri_with_tether.sdf
VERBATIM
_oscillation_ctrl/px4_setup/CMakeLists.txt has these changes therefore all that is needed is:
cp -R ~/catkin_ws/src/oscillation_ctrl/px4_setup/CMakeLists.txt ~/PX4-Autopilot/Tools/sitl_gazebo/
# oscillation_ctrl info # oscillation_ctrl info
Info pertaining to oscillation_ctrl repo such as what the ROS nodes do, different ROS parameters, etc. Info pertaining to oscillation_ctrl repo such as what the ROS nodes do, different ROS parameters, etc.
@ -262,3 +213,19 @@ __pload_mass:__ sets the payload mass in simulation without having to change the
## Frequent Issues ## Frequent Issues
Will populate this section with frequently faces issues Will populate this section with frequently faces issues
### No header files error:
In oscillation_ctrl/CMakeLists.txt, change:
add_dependencies(pathFollow_node ${${PROJECT_NAME}EXPORTEDTARGETS} ${catkin_EXPORTED_TARGETS})
to:
add_dependencies(pathFollow_node oscillation_ctrl_generate_messages_cpp)
### Cannot build px4_sitl
Normally, this is solved by running:
make clean
And redo command you were trying to run. If problem persists, rerun ubuntu_sim_ros_melodic.sh and ubuntu.sh and try again.