Update 'README.md'

2022-03-04 18:21:17 +00:00 · 2022-03-04 18:21:17 +00:00 · 82c7bd26a0
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@ -2,68 +2,76 @@

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

-Cesar Rodriguez
+Cesar Rodriguez 
+
+cesar.rodriguez@spirirobotics.com
+
 February 2022

 Steps to recreate stable PX4 environment + working repo

-#STEP 1) Installing ROS Melodic
+## 1) Installing ROS Melodic

- SETUP SOURCES.LIST
+### 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
+### 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
+### INSTALLATION
 	sudo apt update
 	sudo apt install ros-melodic-desktop-full
- ENVIRONMENT SETUP
+### ENVIRONMENT SETUP
 	echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
- DEPENDENCIES
+### 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
+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
+### MAVLINK
 	rosinstall_generator --rosdistro melodic mavlink | tee /tmp/mavros.rosinstall
- MAVROS
+### MAVROS
 	rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
- CREATE WORKSPACE AND DEPS
+### 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
+### INSTALL GEOGRAPHIC LIB DATASETS
 	cd ~/catkin_ws
 	sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh
- BUILD SOURCE
+### BUILD SOURCE
 	cd ~/catkin_ws	
 	catkin build
 	
+## 2) PX4 Environment Development

-#STEP 2) PX4 Environment Development
-
- DOWNLOAD PX4 SOURCE CODE
+### DOWNLOAD PX4 SOURCE CODE
 	git clone https://github.com/PX4/PX4-Autopilot.git --recursive
- RUN UBUNTU.SH
+
+### RUN UBUNTU.SH
 	bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
-	Restart computer after it is done
- BUILD ROS/GAZEBO: Gets Gazebo9
+	#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:
+
+#### Download QGroundControl from:
 	https://docs.qgroundcontrol.com/master/en/releases/daily_builds.html
- Build jMAVSim and Gazebo
+
+#### Build jMAVSim and Gazebo
 	cd ~/PX4-Autopilot
 	make px4_sitl jmavsim
-	%%% May need to open QGroundControl for it to work %%%
+	#May need to open QGroundControl for it to work
 	make px4_sitl gazebo
- Create px4 package
+
+#### Create px4 package
 	cd ~/PX4-Autopilot
 	DONT_RUN=1 make px4_sitl_default gazebo
 	source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
@ -71,39 +79,44 @@ Steps to recreate stable PX4 environment + working repo
 	export ROS_PACKAGE_PATH=$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
+## 3) oscillation_ctrl Dependencies
+### INSTALL XTERM
 	sudo apt-get update -y
 	sudo apt-get install -y xterm
-INSTALL MAVROS_CONTROLLERS
+
+### 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:
-	<arg name="fcu_url" default="/dev/ttyACM0:57600" />
-	<arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550" />		
-	- with:
-	<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" />
- CHANGE DEVEL/SETUP.BASH
-	In catkin_ws (or any working directory) add to devel/setup.bash:
+	#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 $ROS_DISTRO
+	catkin build
+	source ~/catkin_ws/devel/setup.bash
+	#####Troubleshooting: https://github.com/Jaeyoung-Lim/mavros_controllers
+### TOOLS/SITL_GAZEBO
+	copy (or add) files in 'oscillation_ctrl/models' and 'oscillation_ctrl/worlds' to 'PX4-Autopilot/Tools/sitl_gazebo/models' and 'PX4-Autopilot/Tools/sitl_gazebo/worlds' respectively
+### ROMFS/PX4FMU_COMMON
+	copy (or add) files in 'oscillation_ctrl/airframes' to 'PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes'
+	add file name to 'CmakeLists.txt' in same 'airframe' folder (with number)
+	add airframe name in '~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake' (no number!)
+### LAUNCH FILES
+	copy (or add) files from px4_launch directory to '~/PX4-Autopilot/launch'
+### MAVROS
+- in px4.launch, replace:
+
+arg name="fcu_url" default="/dev/ttyACM0:57600" 
+arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550"
+
+- with:
+
+	arg name="fcu_url" default="udp://:14551@192.168.1.91:14556"
+	arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550" 
+
+#### CHANGE DEVEL/SETUP.BASH
+In catkin_ws (or any working directory) add to devel/setup.bash:
 		CURRENT_DIR=$(pwd)
 		cd ~/PX4-Autopilot

@ -113,7 +126,11 @@ Steps to recreate stable PX4 environment + working repo

 		cd $CURRENT_DIR

-#JINJA TETHER FILE
+## JINJA TETHER FILE
+- spiri_with_tether.sdf.jinja can be altered to create desired tether model
+- changes nede to be made in px4 directory and will only take effect and 
+"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)