Skip to content

Latest commit

 

History

History
163 lines (99 loc) · 4.04 KB

cheatsheet_aerovr.md

File metadata and controls

163 lines (99 loc) · 4.04 KB
Raw

run simulator

cd ~/PX4/Firmware
make px4_sitl_default jmavsim

cd ~/aerovr_ws/src/px4_control/scripts

# connect to the simulated drone:
roslaunch px4_control px4_sim.launch

# EITHER execute test-flight command:
rosrun px4_control drone_test.py

# OR try with controller:
rosrun px4_control position_interactive_control_vr.py

rqt_plot

rosrun rqt_plot rqt_plot
# choose topic and press enter

Crazyflie

# ON OMEGA
# roslaunch vicon_bridge vicon.launch
# crazyflie drone is:
# /vicon/cf4/cf4

# ON OMEGA
# connect to crazyflie
roslaunch crazyflie_demo connect_crazyflie4.launch

# ON OMEGA
# launch rviz and controller
roslaunch px4_control pos_control_viz.launch

setup HTC Vive

1) turn headset to the X-direction (facing window)

Tests

# vicon  (using ethernet connection!)
ping 192.168.10.1
roslaunch vicon_bridge vicon.launch
rostopic hz /vicon/markers


# controller
python controller_test.py 10

Technical params

    nick: 192.168.88.224
    odroid: 192.168.88.253
    vicon: 192.168.88.223

    есть еще fcu_url. 
    Там телеметрию указываем, что-то вроде /dev/ttyUSB0:921600 
    (баудрейт в конце)

Connect to VICON through ethernet

on Omega (nick's pc) add IP in vicon's network

sudo su
vim /etc/network/interfaces

auto eth0         
allow-hotplug eth0                                      
iface eth0 inet static       
    address 192.168.10.249      
    netmask 255.255.255.0

In vicon.launch change IP to ethernet:

<param name="datastream_hostport" value="192.168.10.1:801" type="str" />

Go to internet - edit connections - IPv4 Settings

add address: 192.168.10.125 (can be anything) netmask 24

DNS servers: 192.168.10.254

Connect to the big drone

ON DRONE запустить этот лаунч для локализации по мокапу и получения данных с дрона проверить, идут ли данные локализации на пиксхок

roslaunch px4_control drone.launch gcs_url:=udp://@192.168.88.224

ON OMEGA (Nick's computer) EITHER полетный скрипт (без пропеллеров, естественно сначала):

roslaunch px4_control main.launch

OR drone_test ON OMEGA

# uncomment five strings in main.launch
# and comment out position_interactive_control_vr

Configure pixhawk

актуальная инструкция:
https://dev.px4.io/v1.9.0/en/companion_computer/pixhawk_companion.html

Sys_companion - баудрейт указывать 921600

Add ip to interfaces

TODO: CHANGE THIS!

Check network config:

sudo su
vim /etc/network/interfaces

# here wlan, adress, netmask, bssid, pas 
auto wlan0

Configure network to get visualization remotely

Your working computer and NUC need to now about each other.

here is complete instruction (first link)

https://roboticsknowledgebase.com/wiki/networking/ros-distributed/
http://www.iri.upc.edu/files/scidoc/1607-Multi-master-ROS-systems.pdf

On your working computer:

Inside /etc/hosts add IP of device you want to connect to and it's hostname (nuc@skcr):

sudo vim /etc/hosts
192.168.88.253 odroid

On robot:

sudo vim /etc/hosts
192.168.88.224 alex-System-Product-Name

Graphics in QGroundControl

qgroundcontrol. Widgets -> Analyse

Mocap to Pixhawk

скрипт mocap2pixhwak делает преобразование координат с вайкона в маврос 
и в нужный топик локализации отправляет данные 
(/mavros/vision_position/pose, из визуальной позиции потом уже EKF в local_pose публикует)