Update 'README.md'
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README.md
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README.md
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@ -12,17 +12,17 @@ Steps to recreate stable PX4 environment + working repo
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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 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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@ -30,35 +30,35 @@ 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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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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### 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 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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### 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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### Build ROS and Gazebo - This defaults to 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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@ -77,48 +77,45 @@ Initilize rosdep:
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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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## 3) oscillation_ctrl Dependencies
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### INSTALL XTERM
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## 3) 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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### INSTALL MAVROS_CONTROLLERS
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cd ~/catkin_ws/src
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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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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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### CLONE OSCILLATION_CTRL
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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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### 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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### 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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cp -R ~catkin_ws/src/oscillation_ctrl/airframes/* 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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### LAUNCH FILES
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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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### Clone oscillation_ctrl
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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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### 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/* 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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CURRENT_DIR=$(pwd)
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cd ~/PX4-Autopilot
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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:$(pwd)/Tools/sitl_gazebo
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CURRENT_DIR=$(pwd)
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cd ~/PX4-Autopilot
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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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cd $CURRENT_DIR
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cd $CURRENT_DIR
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## JINJA TETHER FILE
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- _spiri_with_tether.sdf.jinja_ can be altered to create desired tether model
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@ -129,71 +126,75 @@ In catkin_ws (or any working directory) add to devel/setup.bash:
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- tl: segment length (should be no shorter than 0.3 meters)
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- __IMPORTANT:__ in order for jinja file to work, the following needs to be added to the _CMakeLists.txt_ (Ln 288 - may change in future) in the _~/PX4-Autopilot/Tools/sitl_gazebo_ folder:
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COMMAND
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${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 ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py models/spiri_with_tether/spiri_with_tether.sdf
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VERBATIM
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)
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COMMAND
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${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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)
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- This should be added in the line below VERBATIM in the add_custom_command function, which should be Ln 288)
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## ROS NODES
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- __LinkState.py__ determines payload load angles and their rates (theta and phi), as well as determines tether length and keeps track of variables needed in case of step test.
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__LinkState.py__ determines payload load angles and their rates (theta and phi) using Gazebo (needs to be made more robust), as well as determines tether length and keeps track of variables needed in case of step test.
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### Publishes to:
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/status/twoBody_status # localization and angles
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/status/load_angles # payload angles (and tates) relative to vehicle
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/status/path_follow # boolean to run trajectory test
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/status/twoBody_status # localization and angles
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/status/load_angles # payload angles (and tates) relative to vehicle
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/status/path_follow # boolean to run trajectory test
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### Subscribes to:
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none
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- __ref_signalGen.py__ takes in desired position (xd) and determines smooth path trajectory.
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none
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__wpoint_tracker.py__ Sets original waypoints to be (in meters): [x=0,y=0,z=5]. This node listens to topic to keep track of desired waypoints. If any other node wants to change the waypoints, they publish to "reference/waypoints" and __wpoint_tracker creates these new waypoints.
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### Publishes to:
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/reference/path # smooth path
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/reference/flatsetpoint # needed to determine thrust
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none
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### Subscribes to:
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/status/load_angles
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/mavros/local_position/pose
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/mavros/local_position/velocity_body
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/mavros/imu/data
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/mavros/state
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/reference/waypoints
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- __klausen_control.py__ determines forces on drone needed based on smooth path and feedback to dampen oscillations. From the forces needed, it publishes attitude commands.
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/reference/waypoints
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__ref_signalGen.py__ takes in desired position (xd) and determines smooth path trajectory.
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### Publishes to:
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/command/quaternions # attitude commands
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/reference/path # smooth path
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/reference/flatsetpoint # needed to determine thrust
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### Subscribes to:
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/status/load_angles
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/reference/path
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/mavros/local_position/pose
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/mavros/local_position/velocity_body
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/mavros/imu/data
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/status/load_angles
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/mavros/local_position/pose
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/mavros/local_position/velocity_body
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/mavros/imu/data
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/mavros/state
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/reference/waypoints
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__klausen_control.py__ determines forces on drone needed based on smooth path and feedback to dampen oscillations. From the forces needed, it publishes attitude commands.
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### Publishes to:
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/command/quaternions # attitude commands
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### Subscribes to:
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/status/load_angles
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/reference/path
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/mavros/local_position/pose
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/mavros/local_position/velocity_body
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/mavros/imu/data
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- node from _mavros_controllers/geometric_controller_ subscribes to _/reference/flatsetpoint_ to determine thrust commands which are published to _command/bodyrate_command_ by default
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- __path_follow.cpp__ sets the vehicle in OFFBOARD mode (PX4) and takes off to a set height for 25 seconds before starting to publish attitude and thrust commands.
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__path_follow.cpp__ sets the vehicle in OFFBOARD mode (PX4) and takes off to a set height for 25 seconds before starting to publish attitude and thrust commands.
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### Publishes to:
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mavros/setpoint_position/local # needed to hover @ set height
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mavros/setpoint_raw/attitude # attitude and thrust commands
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mavros/setpoint_position/local # needed to hover @ set height
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mavros/setpoint_raw/attitude # attitude and thrust commands
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### Subscribes to:
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/command/quaternions
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/command/bodyrate_command
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/mavros/state
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/command/quaternions
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/command/bodyrate_command
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/mavros/state
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## Launching simulation
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- To launch a simulation, run the following command:
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roslaunch oscillation_ctrl oscillation_damp.launch
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roslaunch oscillation_ctrl oscillation_damp.launch
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- This simulation is set to have a Spiri Mu hover at an alitude of 5 m.
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- The launch file itself has two usable arguments:
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__model:__
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spiri_with_tether # default
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spiri
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headless_spiri_with_tether # headless mode: launches with no Gazebo GUI
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spiri_with_tether # Spiri Mu with a tethered payload
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spiri # Spiri Mu without tethered paylaod
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headless_spiri_with_tether # headless mode: launches with no Gazebo GUI. This is the default model
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__test:__
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none # default
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step # step input - default is 5 m
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square # square trajectory
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- To run the simulation with a tethered payload headless mode and perform a step test:
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roslaunch oscillation_ctrl klausen_dampen.launch model:=headless_spiri_with_tether test:=step
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To run the simulation with a tethered payload headless mode and perform a step test:
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roslaunch oscillation_ctrl oscillation_damp.launch model:=headless_spiri_with_tether test:=step
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