oscillation_ctrl/README.md

176 lines
6.4 KiB
Markdown
Raw Normal View History

2022-03-01 13:35:05 -04:00
# oscillation_ctrl
2022-03-04 14:22:39 -04:00
Repo containing oscillation damping controller for tether missions + instructions how to to set up
Cesar Rodriguez
cesar.rodriguez@spirirobotics.com
February 2022
Steps to recreate stable PX4 environment + working repo
## 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
## 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
## 3) oscillation_ctrl Dependencies
### 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 $ROS_DISTRO
catkin build
source ~/catkin_ws/devel/setup.bash
#####Troubleshooting: https://github.com/Jaeyoung-Lim/mavros_controllers
### TOOLS/SITL_GAZEBO
2022-03-07 13:54:03 -04:00
- copy (or add) files in _oscillation_ctrl/models_ and _oscillation_ctrl/worlds_ to _PX4-Autopilot/Tools/sitl_gazebo/models_ and _PX4-Autopilot/Tools/sitl_gazebo/worlds_ respectively
2022-03-04 14:22:39 -04:00
### ROMFS/PX4FMU_COMMON
2022-03-07 13:54:03 -04:00
- copy (or add) files in _oscillation_ctrl/airframes_ to _PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes_
- add file name to _CmakeLists.txt_ in same 'airframe' folder (with number)
- add airframe name in _~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake_ (no number!)
2022-03-04 14:22:39 -04:00
### LAUNCH FILES
copy (or add) files from px4_launch directory to '~/PX4-Autopilot/launch'
### MAVROS
- in px4.launch, replace:
2022-03-04 14:31:54 -04:00
2022-03-04 14:33:03 -04:00
arg name="fcu_url" default="/dev/ttyACM0:57600"
arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550"
2022-03-04 14:31:54 -04:00
2022-03-04 14:22:39 -04:00
- with:
2022-03-04 14:31:54 -04:00
2022-03-04 14:33:03 -04:00
arg name="fcu_url" default="udp://:14551@192.168.1.91:14556"
arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550"
2022-03-04 14:22:39 -04:00
#### CHANGE DEVEL/SETUP.BASH
In catkin_ws (or any working directory) add to devel/setup.bash:
2022-03-04 14:33:03 -04:00
CURRENT_DIR=$(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
2022-03-04 14:22:39 -04:00
## JINJA TETHER FILE
- spiri_with_tether.sdf.jinja can be altered to create desired tether model
2022-03-07 13:51:46 -04:00
- changes need to be made in px4 directory and will only take effect and
2022-03-04 14:22:39 -04:00
"make px4_sitl gazebo"
- can do DONT_RUN=1 make px4_sitl gazebo to avoid starting px4 shell and gazebo
- 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)
2022-03-07 11:17:20 -04:00
## ROS NODES
2022-03-07 13:51:46 -04:00
- __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.
2022-03-07 11:20:39 -04:00
### Publishes to:
2022-03-07 11:17:20 -04:00
/status/twoBody_status # localization and angles
/status/path_follow # boolean to run trajectory test
2022-03-07 11:20:39 -04:00
### Subscribes to:
2022-03-07 11:17:20 -04:00
none
2022-03-07 13:51:46 -04:00
- __ref_signalGen.py__ takes in desired position (xd) and determines smooth path trajectory.
2022-03-07 11:20:39 -04:00
### Publishes to:
2022-03-07 11:17:20 -04:00
/reference/path # smooth path
/reference/flatsetpoint # needed to determine thrust
2022-03-07 11:20:39 -04:00
### Subscribes to:
2022-03-07 11:17:20 -04:00
/status/twoBody_status
/mavros/local_position/velocity_body
/mavros/imu/data
/mavros/state
/reference/waypoints
2022-03-07 13:51:46 -04:00
- __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.
2022-03-07 11:20:39 -04:00
### Publishes to:
2022-03-07 11:17:20 -04:00
/command/quaternions # attitude commands
/reference/flatsetpoint # needed to determine thrust
2022-03-07 11:20:39 -04:00
### Subscribes to:
2022-03-07 11:17:20 -04:00
/status/twoBody_status
/reference/path
/mavros/imu/data
/mavros/local_position/velocity_body
2022-03-07 13:51:46 -04:00
- node from _mavros_controllers/geometric_controller_ subscribes to _/reference/flatsetpoint_ to determine thrust commands which are published to _command/bodyrate_command_ by default
- __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.
2022-03-07 11:20:39 -04:00
### Publishes to:
2022-03-07 11:17:20 -04:00
mavros/setpoint_position/local # needed to hover @ set height
mavros/setpoint_raw/attitude # attitude and thrust commands
2022-03-07 11:20:39 -04:00
### Subscribes to:
2022-03-07 11:17:20 -04:00
/command/quaternions
/command/bodyrate_command
/mavros/state