Changed README and added launch files
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README.md
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README.md
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# oscillation_ctrl
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Repo containing oscillation damping controller for tether missions + instructions how to to set up
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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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## 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 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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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 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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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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git clone https://github.com/PX4/PX4-Autopilot.git --recursive
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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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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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https://docs.qgroundcontrol.com/master/en/releases/daily_builds.html
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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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make px4_sitl gazebo
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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) $(pwd)/build/px4_sitl_default
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export ROS_PACKAGE_PATH=$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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## 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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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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### 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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'''
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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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'''
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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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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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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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- 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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<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<!-- MAVROS posix SITL environment launch script -->
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<!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle -->
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<!-- vehicle pose -->
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<arg name="x" default="0"/>
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<arg name="y" default="0"/>
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<arg name="z" default="0"/>
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<arg name="R" default="0"/>
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<arg name="P" default="0"/>
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<arg name="Y" default="0"/>
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<!-- vehicle model and world -->
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<arg name="est" default="ekf2"/>
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<arg name="vehicle" default="spiri"/>
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/citadel_hill_world.world"/>
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<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
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<!-- gazebo configs -->
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<arg name="gui" default="true"/>
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<arg name="debug" default="false"/>
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<arg name="verbose" default="false"/>
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<arg name="paused" default="false"/>
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<arg name="respawn_gazebo" default="false"/>
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<!-- MAVROS configs -->
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<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
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<arg name="respawn_mavros" default="false"/>
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<!-- PX4 configs -->
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<arg name="interactive" default="true"/>
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<!-- PX4 SITL and Gazebo -->
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<include file="$(find px4)/launch/posix_sitl.launch">
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<arg name="x" value="$(arg x)"/>
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<arg name="y" value="$(arg y)"/>
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<arg name="z" value="$(arg z)"/>
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<arg name="R" value="$(arg R)"/>
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<arg name="P" value="$(arg P)"/>
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<arg name="Y" value="$(arg Y)"/>
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<arg name="world" value="$(arg world)"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="sdf" value="$(arg sdf)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="interactive" value="$(arg interactive)"/>
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<arg name="debug" value="$(arg debug)"/>
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<arg name="verbose" value="$(arg verbose)"/>
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<arg name="paused" value="$(arg paused)"/>
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<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<!-- GCS link is provided by SITL -->
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<arg name="gcs_url" value=""/>
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
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</include>
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</launch>
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<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<!-- MAVROS posix SITL environment launch script -->
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<!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle -->
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<!-- vehicle pose -->
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<arg name="x" default="0"/>
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<arg name="y" default="0"/>
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<arg name="z" default="0"/>
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<arg name="R" default="0"/>
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<arg name="P" default="0"/>
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<arg name="Y" default="0"/>
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<!-- vehicle model and world -->
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<arg name="est" default="ekf2"/>
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<arg name="vehicle" default="spiri"/>
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/citadel_hill_world.world"/>
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<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
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<!-- gazebo configs -->
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<arg name="gui" default="false"/>
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<arg name="debug" default="false"/>
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<arg name="verbose" default="false"/>
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<arg name="paused" default="false"/>
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<arg name="respawn_gazebo" default="false"/>
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<!-- MAVROS configs -->
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<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
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<arg name="respawn_mavros" default="false"/>
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<!-- PX4 configs -->
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<arg name="interactive" default="true"/>
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<!-- PX4 SITL and Gazebo -->
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<include file="$(find px4)/launch/posix_sitl.launch">
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<arg name="x" value="$(arg x)"/>
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<arg name="y" value="$(arg y)"/>
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<arg name="z" value="$(arg z)"/>
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<arg name="R" value="$(arg R)"/>
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<arg name="P" value="$(arg P)"/>
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<arg name="Y" value="$(arg Y)"/>
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<arg name="world" value="$(arg world)"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="sdf" value="$(arg sdf)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="interactive" value="$(arg interactive)"/>
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<arg name="debug" value="$(arg debug)"/>
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<arg name="verbose" value="$(arg verbose)"/>
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<arg name="paused" value="$(arg paused)"/>
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<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<!-- GCS link is provided by SITL -->
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<arg name="gcs_url" value=""/>
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
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</include>
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</launch>
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<?xml version="1.0"?>
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<launch>
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<!-- MAVROS posix SITL environment launch script -->
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<!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle -->
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<!-- vehicle pose -->
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<arg name="x" default="0"/>
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<arg name="y" default="0"/>
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<arg name="z" default="0"/>
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<arg name="R" default="0"/>
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<arg name="P" default="0"/>
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<arg name="Y" default="0"/>
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<!-- vehicle model and world -->
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<arg name="est" default="ekf2"/>
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<arg name="vehicle" default="spiri"/>
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/citadel_hill_world.world"/>
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<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
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<!-- gazebo configs -->
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<arg name="gui" default="false"/>
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<arg name="debug" default="false"/>
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<arg name="verbose" default="false"/>
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<arg name="paused" default="false"/>
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<arg name="respawn_gazebo" default="false"/>
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<!-- MAVROS configs -->
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<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
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<arg name="respawn_mavros" default="false"/>
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<!-- PX4 configs -->
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<arg name="interactive" default="true"/>
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<!-- PX4 SITL and Gazebo -->
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<include file="$(find px4)/launch/posix_sitl.launch">
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<arg name="x" value="$(arg x)"/>
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<arg name="y" value="$(arg y)"/>
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<arg name="z" value="$(arg z)"/>
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<arg name="R" value="$(arg R)"/>
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<arg name="P" value="$(arg P)"/>
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<arg name="Y" value="$(arg Y)"/>
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<arg name="world" value="$(arg world)"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="sdf" value="$(arg sdf)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="interactive" value="$(arg interactive)"/>
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<arg name="debug" value="$(arg debug)"/>
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<arg name="verbose" value="$(arg verbose)"/>
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<arg name="paused" value="$(arg paused)"/>
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<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<!-- GCS link is provided by SITL -->
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<arg name="gcs_url" value=""/>
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
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</include>
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</launch>
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<?xml version="1.0"?>
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<launch>
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<!-- MAVROS posix SITL environment launch script -->
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<!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle -->
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<!-- vehicle pose -->
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<arg name="x" default="0"/>
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<arg name="y" default="0"/>
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<arg name="z" default="0"/>
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<arg name="R" default="0"/>
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<arg name="P" default="0"/>
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<arg name="Y" default="0"/>
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<!-- vehicle model and world -->
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<arg name="est" default="ekf2"/>
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<arg name="vehicle" default="spiri_with_tether"/>
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/citadel_hill_world.world"/>
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<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
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<!-- gazebo configs -->
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<arg name="gui" default="false"/>
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<arg name="debug" default="false"/>
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<arg name="verbose" default="false"/>
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<arg name="paused" default="false"/>
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<arg name="respawn_gazebo" default="false"/>
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<!-- MAVROS configs -->
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<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
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<arg name="respawn_mavros" default="false"/>
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<!-- PX4 configs -->
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<arg name="interactive" default="true"/>
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<!-- PX4 SITL and Gazebo -->
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<include file="$(find px4)/launch/posix_sitl.launch">
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<arg name="x" value="$(arg x)"/>
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<arg name="y" value="$(arg y)"/>
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<arg name="z" value="$(arg z)"/>
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<arg name="R" value="$(arg R)"/>
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<arg name="P" value="$(arg P)"/>
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<arg name="Y" value="$(arg Y)"/>
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<arg name="world" value="$(arg world)"/>
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<arg name="vehicle" value="$(arg vehicle)"/>
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<arg name="sdf" value="$(arg sdf)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="interactive" value="$(arg interactive)"/>
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<arg name="debug" value="$(arg debug)"/>
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<arg name="verbose" value="$(arg verbose)"/>
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<arg name="paused" value="$(arg paused)"/>
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<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<!-- GCS link is provided by SITL -->
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<arg name="gcs_url" value=""/>
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
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</include>
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</launch>
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<?xml version="1.0"?>
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<launch>
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<!-- MAVROS posix SITL environment launch script -->
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<!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle -->
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<!-- vehicle pose -->
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<arg name="x" default="0"/>
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<arg name="y" default="0"/>
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<arg name="z" default="0"/>
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<arg name="R" default="0"/>
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<arg name="P" default="0"/>
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<arg name="Y" default="0"/>
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<!-- vehicle model and world -->
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<arg name="est" default="ekf2"/>
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<arg name="vehicle" default="spiri"/>
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/citadel_hill_world.world"/>
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<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
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<!-- gazebo configs -->
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<arg name="gui" default="true"/>
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<arg name="debug" default="false"/>
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<arg name="verbose" default="false"/>
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<arg name="paused" default="false"/>
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<arg name="respawn_gazebo" default="false"/>
|
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<!-- MAVROS configs -->
|
||||
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
|
||||
<arg name="respawn_mavros" default="false"/>
|
||||
<arg name="quaternion" default="true"/>
|
||||
<!-- PX4 configs -->
|
||||
<arg name="interactive" default="true"/>
|
||||
<!-- PX4 SITL and Gazebo -->
|
||||
<include file="$(find px4)/launch/posix_sitl.launch">
|
||||
<arg name="x" value="$(arg x)"/>
|
||||
<arg name="y" value="$(arg y)"/>
|
||||
<arg name="z" value="$(arg z)"/>
|
||||
<arg name="R" value="$(arg R)"/>
|
||||
<arg name="P" value="$(arg P)"/>
|
||||
<arg name="Y" value="$(arg Y)"/>
|
||||
<arg name="world" value="$(arg world)"/>
|
||||
<arg name="vehicle" value="$(arg vehicle)"/>
|
||||
<arg name="sdf" value="$(arg sdf)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="interactive" value="$(arg interactive)"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
<arg name="verbose" value="$(arg verbose)"/>
|
||||
<arg name="paused" value="$(arg paused)"/>
|
||||
<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
|
||||
</include>
|
||||
<!-- MAVROS -->
|
||||
<include file="$(find mavros)/launch/px4.launch">
|
||||
<!-- GCS link is provided by SITL -->
|
||||
<arg name="gcs_url" value=""/>
|
||||
<arg name="fcu_url" value="$(arg fcu_url)"/>
|
||||
<arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
|
||||
<arg name="quaternion" value="$(arg quaternion)"/>
|
||||
</include>
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,54 @@
|
|||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
<!-- MAVROS posix SITL environment launch script -->
|
||||
<!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle -->
|
||||
<!-- vehicle pose -->
|
||||
<arg name="x" default="0"/>
|
||||
<arg name="y" default="0"/>
|
||||
<arg name="z" default="0"/>
|
||||
<arg name="R" default="0"/>
|
||||
<arg name="P" default="0"/>
|
||||
<arg name="Y" default="0"/>
|
||||
<!-- vehicle model and world -->
|
||||
<arg name="est" default="ekf2"/>
|
||||
<arg name="vehicle" default="spiri_with_tether"/>
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/citadel_hill_world.world"/>
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
|
||||
|
||||
<!-- gazebo configs -->
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="verbose" default="false"/>
|
||||
<arg name="paused" default="false"/>
|
||||
<arg name="respawn_gazebo" default="false"/>
|
||||
<!-- MAVROS configs -->
|
||||
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
|
||||
<arg name="respawn_mavros" default="false"/>
|
||||
<!-- PX4 configs -->
|
||||
<arg name="interactive" default="true"/>
|
||||
<!-- PX4 SITL and Gazebo -->
|
||||
<include file="$(find px4)/launch/posix_sitl.launch">
|
||||
<arg name="x" value="$(arg x)"/>
|
||||
<arg name="y" value="$(arg y)"/>
|
||||
<arg name="z" value="$(arg z)"/>
|
||||
<arg name="R" value="$(arg R)"/>
|
||||
<arg name="P" value="$(arg P)"/>
|
||||
<arg name="Y" value="$(arg Y)"/>
|
||||
<arg name="world" value="$(arg world)"/>
|
||||
<arg name="vehicle" value="$(arg vehicle)"/>
|
||||
<arg name="sdf" value="$(arg sdf)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="interactive" value="$(arg interactive)"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
<arg name="verbose" value="$(arg verbose)"/>
|
||||
<arg name="paused" value="$(arg paused)"/>
|
||||
<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
|
||||
</include>
|
||||
<!-- MAVROS -->
|
||||
<include file="$(find mavros)/launch/px4.launch">
|
||||
<!-- GCS link is provided by SITL -->
|
||||
<arg name="gcs_url" value=""/>
|
||||
<arg name="fcu_url" value="$(arg fcu_url)"/>
|
||||
<arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
|
||||
</include>
|
||||
</launch>
|
||||
14
setup.txt
14
setup.txt
|
|
@ -83,17 +83,14 @@ STEP 3) This is Cesar stuff, need to do stuff to rebuild oscillation_ctrl
|
|||
catkin build
|
||||
source ~/catkin_ws/devel/setup.bash
|
||||
~Troubleshooting: https://github.com/Jaeyoung-Lim/mavros_controllers
|
||||
|
||||
-TOOLS/SITL_GAZEBO
|
||||
change default sitl_gazebo folder with working folder
|
||||
-- Change this to add model, change airframe, etc and add citadel_hill world
|
||||
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
|
||||
-ROMFS/PX4FMU_COMMON
|
||||
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
|
||||
add files in oscillation_ctrl/airframes to PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix
|
||||
copy (or add) files in oscillation_ctrl/airframes to PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes
|
||||
add file name to CmakeLists.txt in same 'airframe' folder (with number)
|
||||
add airframe name in ~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake (no number!)
|
||||
-LAUNCH FILES
|
||||
change default ~/PX4-Autopilot/launch folder with working folder
|
||||
ccopy (or add) files from px4_launch directory to ~/PX4-Autopilot/launch
|
||||
-MAVROS
|
||||
- in px4.launch, replace:
|
||||
<arg name="fcu_url" default="/dev/ttyACM0:57600" />
|
||||
|
|
@ -112,6 +109,11 @@ STEP 3) This is Cesar stuff, need to do stuff to rebuild oscillation_ctrl
|
|||
|
||||
cd $CURRENT_DIR
|
||||
|
||||
JINJA TETHER FILE
|
||||
- First two elements can be changed to tweak tether parameters
|
||||
- number_elements: number of segments tether will be composed of
|
||||
- tl: segment length (should be no shorter than 0.3 meters)
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue