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