ROS_node for UAV geometric controller

This repository contains all the ROS source code developed for UAV for indooor (MOCA) and simulation (Gazebo) environments.

Installation

1. First you need ROS (use kinetic distro)

   • This is super easy now. We've created a setup script that will install all the necessary packages.

2. Create a workspace in a convienent directory and clone the repo. This is creating the catkin_ws

   $ cd
   $ mkdir -p catkin_ws/src
   $ cd catkin_ws/src
   $ git clone https://github.com/fdcl-gwu/ROS_node.git
   

3. Run the comprehensive setup script

   $ cd ROS_node/setup
   $ ./ros_install.bash
   

4. The script will install ROS and all necessary packages. You can then go to your catkin_ws and build as necessary

5. Modify the path

   $ cd ~/catkin_ws
   $ source devel/setup.bash
   

6. Now you can run the code

Running the code

There are a variety of possible ways to compile and use the code. It is already setup to provide simulation capabilities via Gazebo as well as hardware interfaces for use on the vehicles.

Gazebo simulation environment

To run the code in simulation you use the following launch files:

roslaunch odroid empty_gazebo.launch
roslaunch odroid odroid_gazebo.launch

This will create a Gazebo simulation and the appropriate nodes for communication.

Indoor testing at MOCA

This launch file is setup for indoor testing in the motion capture lab.

roslaunch odroid odroid_moca.launch

Hardware procedure

Find IP of odroid on the same network: use nmap

1. roslaunch openni2_launch openni2.launch

• rosrun odroid sense.py

• run IMU driver

• run controller node

• Run node on the base station to map

• Controller callback

  • member function inputs has been reduced
  • calculates forces and throttle values

• Vicon subscriber

  • Uses Vicon_bridge package for communication ROS wiki github

• Fake imu sensor data using python code

• VN100 IMU driver for ROS has been tested with kinetic link

  • If you get /imu: VN: Permission denied, On line 217 in src/imu_vn_100.cpp, try changing BINARY_ASYNC_MODE_SERIAL_2 to BINARY_ASYNC_MODE_SERIAL_1

• Hector quadrotor repository for simulation testing

• Dynamic reconfiguration for gains and value prints on console

• I2C command function for motor control

  • install i2c-dev for linux

• Throttle calibration node: arduino_daq.py

  • Use C implementation not python
  • include #define USE_USBCON in the sketch of arduino (working code in arduino/ADC folder)
  • Omega manual
  • I2C example for arduino ros

sudo apt-get install ros-kinetic-rosserial-server
rosrun rosserial_server serial_node _port:=/dev/ttyACM0 _baud:=115200

Odroid node class implementation for ROS

UAV control

Gazebo models

Quadrotor

Install

TODO: scripts

System dependencies

Networking

To get master rosnode communicate with slaves

• hostname -I, to check host name for roscore
• export ROS_MASTER_URI=http://<ip_address>:11311
• export ROS_IP=<ip_address>
• rosrun urg_node urg_node _ip_address:="192.168.0.10"
• Use nmap command to debug some of the network communication issues

Update versions

tag v0.4

• First successful flight test

tag v0.3

• Gazebo simulation quad controller integration complete

tag V0.2

• Synchronized message from IMU and Vicon for sensor callback

tag V0.1

• Initial working node for attitude control on a spherical joint

TODO:

• set time between odroid and ground station

sudo apt-get install chrony
sudo apt-get install ntpdate
sudo ntpdate ntp.ubuntu.com
or
THIS WORKS: sudo date --set="$(ssh user@host date)"

• link to roswiki
• Hardware test
• Record the experiment with camera rosbag
• test vicon_bridge with position controller
• bring USB splitter
• Check gazebo IMU sensor plugin (https://github.com/alessandrosettimi/test_imu_sensor)
• Clear unnecessary header files and functions
• publisher in subscriber callback function and make a node handle within class

20170111 Testing

1. test attitude controller with vicon
3. test position controller

Make sure to ROSBAG all the test data!!!

Some common issues

Check:

• If the compiling error appear on Odroid, check rospkg, catkin_pkg installation. Python distribution change to conda caused the issue. 01/07/2017
• compiling with anaconda python https://gist.github.com/mitmul/538315c68c2069f16f11

Python issues

• If you have Anaconda installed, you can simply uncomment the path modifcation in your ~/.bashrc file This will ensure that the system Python is Pin use rather than Anaconda.

  More explicitly, make sure the following line is commented in ~/.bashrc and then run source ~/.bashrc or open a new terminal window and verify that the system python is running.

  # added by Anaconda3 4.3.0 installer
  # export PATH="/home/<username>/anaconda3/bin:$PATH"
  

• Install pip using the system package manager - $ sudo apt-get install python-pip python3-pip

• Ensure you have catkin_pkg and ros_pkg installed via pip install --user catkin_pkg ros_pkg

• Check which Python you're using by $ python --version. It should not point to Anaconda after you modify the .bashrc file. If it still does then you need to open a new terminal window to load the new configuration.

nmap

This a command-line tool to scan your local network. To find IP addresses of other devices on your local subnet use the following:

$ nmap -sP 192.168.2.1/24

This command assumes the local network is 192.168.2.*. If this is not the case you need to modify the command by finding the local gateway using ifconfig