oscillation_ctrl

Repo containing oscillation damping controller for tether missions + instructions how to to set up

Cesar Rodriguez February 2022

Steps to recreate stable PX4 environment + working repo

#STEP 1) Installing ROS Melodic

• SETUP SOURCES.LIST sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

• SETUP YOUR KEYS sudo apt install curl # if you haven't already installed curl curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

• INSTALLATION sudo apt update sudo apt install ros-melodic-desktop-full

• ENVIRONMENT SETUP echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc

• DEPENDENCIES sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

  Initilize rosdep: sudo apt install python-rosdep sudo rosdep init rosdep update

• PX4 DEPENDENCIES sudo apt-get install python-catkin-tools python-rosinstall-generator -y wstool init ~/catkin_ws/src

• MAVLINK rosinstall_generator --rosdistro melodic mavlink | tee /tmp/mavros.rosinstall

• MAVROS rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall

• CREATE WORKSPACE AND DEPS cd ~/catkin_ws wstool merge -t src /tmp/mavros.rosinstall wstool update -t src -j4 rosdep install --from-paths src --ignore-src -y

• INSTALL GEOGRAPHIC LIB DATASETS cd ~/catkin_ws sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh

• BUILD SOURCE cd ~/catkin_ws catkin build

#STEP 2) PX4 Environment Development

• DOWNLOAD PX4 SOURCE CODE git clone https://github.com/PX4/PX4-Autopilot.git --recursive
• RUN UBUNTU.SH bash ./PX4-Autopilot/Tools/setup/ubuntu.sh Restart computer after it is done
• BUILD ROS/GAZEBO: Gets Gazebo9 wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh bash ubuntu_sim_ros_melodic.sh
• Download QGroundControl from: https://docs.qgroundcontrol.com/master/en/releases/daily_builds.html
• Build jMAVSim and Gazebo cd ~/PX4-Autopilot make px4_sitl jmavsim %%% May need to open QGroundControl for it to work %%% make px4_sitl gazebo
• Create px4 package cd ~/PX4-Autopilot DONT_RUN=1 make px4_sitl_default gazebo source Tools/setup_gazebo.bash (pwd) (pwd)/build/px4_sitl_default export ROS_PACKAGE_PATH=ROS_PACKAGE_PATH:(pwd) export ROS_PACKAGE_PATH=ROS_PACKAGE_PATH:(pwd)/Tools/sitl_gazebo roslaunch px4 posix_sitl.launch

#STEP 3) This is Cesar stuff, need to do stuff to rebuild oscillation_ctrl

• INSTALL XTERM sudo apt-get update -y sudo apt-get install -y xterm -INSTALL MAVROS_CONTROLLERS cd ~/catkin_ws/src clone repo: git clone https://github.com/Jaeyoung-Lim/mavros_controllers Download dependencies: cd ~/catkin_ws wstool merge -t src src/mavros_controllers/dependencies.rosinstall wstool update -t src -j4 rosdep install --from-paths src --ignore-src -y --rosdistro $ROS_DISTRO catkin build source ~/catkin_ws/devel/setup.bash ~Troubleshooting: https://github.com/Jaeyoung-Lim/mavros_controllers -TOOLS/SITL_GAZEBO copy (or add) files in oscillation_ctrl/models and oscillation_ctrl/worlds to PX4-Autopilot/Tools/sitl_gazebo/models and PX4-Autopilot/Tools/sitl_gazebo/worlds respectively -ROMFS/PX4FMU_COMMON 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 ccopy (or add) files from px4_launch directory to ~/PX4-Autopilot/launch -MAVROS

  • in px4.launch, replace:
  • with:

• CHANGE DEVEL/SETUP.BASH In catkin_ws (or any working directory) add to devel/setup.bash: CURRENT_DIR=$(pwd) cd ~/PX4-Autopilot

    source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
    export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
    export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
  
    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)