Update 'README.md'

README.md

@@ -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:
+Initilize rosdep:
-		sudo apt install python-rosdep
+
-		sudo rosdep init
+	sudo apt install python-rosdep
-		rosdep update
+	sudo rosdep init
-- PX4 DEPENDENCIES
+	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
+	#Restart computer after it is done
-- BUILD ROS/GAZEBO: Gets Gazebo9
+
+### 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
+## 3) oscillation_ctrl Dependencies
-- INSTALL XTERM
+### 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:
+	#clone repo:
-		git clone https://github.com/Jaeyoung-Lim/mavros_controllers
+	git clone https://github.com/Jaeyoung-Lim/mavros_controllers
-	Download dependencies: 
+	#Download dependencies: 
-		cd ~/catkin_ws
+	cd ~/catkin_ws
-		wstool merge -t src src/mavros_controllers/dependencies.rosinstall
+	wstool merge -t src src/mavros_controllers/dependencies.rosinstall
-		wstool update -t src -j4
+	wstool update -t src -j4
-		rosdep install --from-paths src --ignore-src -y --rosdistro $ROS_DISTRO
+	rosdep install --from-paths src --ignore-src -y --rosdistro $ROS_DISTRO
-		catkin build
+	catkin build
-		source ~/catkin_ws/devel/setup.bash
+	source ~/catkin_ws/devel/setup.bash
-	~Troubleshooting: https://github.com/Jaeyoung-Lim/mavros_controllers
+	#####Troubleshooting: https://github.com/Jaeyoung-Lim/mavros_controllers
--TOOLS/SITL_GAZEBO
+### 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
+	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
+### ROMFS/PX4FMU_COMMON
-	copy (or add) files in oscillation_ctrl/airframes to PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes
+	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 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!)
+	add airframe name in '~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake' (no number!)
--LAUNCH FILES
+### LAUNCH FILES
-	ccopy (or add) files from px4_launch directory to ~/PX4-Autopilot/launch
+	copy (or add) files from px4_launch directory to '~/PX4-Autopilot/launch'
--MAVROS
+### MAVROS
-	- in px4.launch, replace:
+- 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" />		
+arg name="fcu_url" default="/dev/ttyACM0:57600" 
-	- with:
+arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550"
-	<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" />
+- with:
-- CHANGE DEVEL/SETUP.BASH
+
-	In catkin_ws (or any working directory) add to devel/setup.bash:
+	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)