Update 'README.md'
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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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Cesar Rodriguez
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cesar.rodriguez@spirirobotics.com
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February 2022
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Steps to recreate stable PX4 environment + working repo
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#STEP 1) Installing ROS Melodic
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## 1) Installing ROS Melodic
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- SETUP SOURCES.LIST
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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 YOUR KEYS
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### SETUP YOUR 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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### 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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### ENVIRONMENT SETUP
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echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
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- DEPENDENCIES
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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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### 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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### MAVLINK
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rosinstall_generator --rosdistro melodic mavlink | tee /tmp/mavros.rosinstall
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- MAVROS
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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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### 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 LIB DATASETS
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### INSTALL GEOGRAPHIC LIB 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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### 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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#STEP 2) PX4 Environment Development
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- DOWNLOAD PX4 SOURCE CODE
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### DOWNLOAD PX4 SOURCE CODE
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git clone https://github.com/PX4/PX4-Autopilot.git --recursive
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- RUN UBUNTU.SH
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### RUN UBUNTU.SH
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bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
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Restart computer after it is done
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- BUILD ROS/GAZEBO: Gets Gazebo9
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#Restart computer after it is done
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### BUILD ROS/GAZEBO: Gets Gazebo9
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wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh
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bash ubuntu_sim_ros_melodic.sh
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- Download QGroundControl from:
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#### Download QGroundControl from:
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https://docs.qgroundcontrol.com/master/en/releases/daily_builds.html
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- Build jMAVSim and Gazebo
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#### Build jMAVSim and Gazebo
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cd ~/PX4-Autopilot
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make px4_sitl jmavsim
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%%% May need to open QGroundControl for it to work %%%
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#May need to open QGroundControl for it to work
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make px4_sitl gazebo
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- Create px4 package
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#### Create 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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source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
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@ -71,38 +79,43 @@ Steps to recreate stable PX4 environment + working repo
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export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
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roslaunch px4 posix_sitl.launch
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#STEP 3) This is Cesar stuff, need to do stuff to rebuild oscillation_ctrl
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- INSTALL XTERM
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## 3) oscillation_ctrl Dependencies
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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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-INSTALL MAVROS_CONTROLLERS
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### INSTALL MAVROS_CONTROLLERS
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cd ~/catkin_ws/src
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clone repo:
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#clone repo:
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git clone https://github.com/Jaeyoung-Lim/mavros_controllers
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Download dependencies:
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#Download dependencies:
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cd ~/catkin_ws
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wstool merge -t src src/mavros_controllers/dependencies.rosinstall
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wstool update -t src -j4
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rosdep install --from-paths src --ignore-src -y --rosdistro $ROS_DISTRO
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catkin build
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source ~/catkin_ws/devel/setup.bash
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~Troubleshooting: https://github.com/Jaeyoung-Lim/mavros_controllers
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-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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-ROMFS/PX4FMU_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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add file name to CmakeLists.txt in same 'airframe' folder (with number)
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add airframe name in ~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake (no number!)
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-LAUNCH FILES
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ccopy (or add) files from px4_launch directory to ~/PX4-Autopilot/launch
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-MAVROS
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#####Troubleshooting: https://github.com/Jaeyoung-Lim/mavros_controllers
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### 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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### ROMFS/PX4FMU_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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add file name to 'CmakeLists.txt' in same 'airframe' folder (with number)
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add airframe name in '~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake' (no number!)
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### LAUNCH FILES
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copy (or add) files from px4_launch directory to '~/PX4-Autopilot/launch'
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### MAVROS
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- in px4.launch, replace:
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<arg name="fcu_url" default="/dev/ttyACM0:57600" />
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<arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550" />
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arg name="fcu_url" default="/dev/ttyACM0:57600"
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arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550"
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- with:
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<arg name="fcu_url" default="udp://:14551@192.168.1.91:14556" />
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<arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550" />
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- CHANGE DEVEL/SETUP.BASH
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arg name="fcu_url" default="udp://:14551@192.168.1.91:14556"
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arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550"
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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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CURRENT_DIR=$(pwd)
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cd ~/PX4-Autopilot
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@ -113,7 +126,11 @@ Steps to recreate stable PX4 environment + working repo
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cd $CURRENT_DIR
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#JINJA TETHER FILE
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## JINJA TETHER FILE
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- spiri_with_tether.sdf.jinja can be altered to create desired tether model
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- changes nede to be made in px4 directory and will only take effect and
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"make px4_sitl gazebo"
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- can do DONT_RUN=1 make px4_sitl gazebo to avoid starting px4 shell and gazebo
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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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