Real-World-Flight

1 Quick Start

Step 1: Initialize the repository and compile:

[email protected]:Fisheep9/planner0727.git
cd Real-World-Flight
catkin_make

Step 2: Initialize the controller and communicator:

If this is your FIRST flight, please read the [Parameters Modification(Section 4)](### 4 Modify the Parameters before the First Run) first.

./shfiles/init.sh

More details are in the Section Init module.

Step 3: Send the trigger to take off.

#!/bin/bash
source ../devel/setup.bash
rostopic pub -1  /px4ctrl/takeoff_land quadrotor_msgs/TakeoffLand "takeoff_land_cmd: 1"

OR you can choose to run the shell file which is more conveniently:

./shfiles/takeoff.sh

Step 4: Setup your remote controller to:

• Switch the fifth channel to offboard mode
• Switch the sixth channel to high-end mode
• Disable the emergency stop
• Set the throttle to the mid-position

Step5: Start the planner:

./shfiles/ego.sh

More details are in the Section Ego module.

Step 6: Land and Finish:

Firstly, send the trigger to land:

#!/bin/bash
source ../devel/setup.bash
rostopic pub -1 /px4ctrl/takeoff_land quadrotor_msgs/TakeoffLand "takeoff_land_cmd: 2"

OR more conveniently, you can run the shell:

./shfiles/land.sh

Then switch to the emergency stop and unplug the battery.

2 Init Module

Firstly, you need to TEST and ensure that the basic packages are running well.

If this is your first flight, please modify the following:

• Comment out the command in the FOURTH line and test if init.sh runs well.
• Substitute "(your own password)" with your user password, such as "1234" or "abcd".
• Ensure that the VICON server IP is 10.1.1.198.

The details of init.sh are as follows:

#!/bin/bash
source ../devel/setup.bash
echo "your own password" | sudo -S chmod 777 /dev/tty*
# roslaunch mavros px4.launch & sleep 3
rosrun mavros mavcmd long 511 31 10000 0 0 0 0 0;
roslaunch vrpn_client_ros sample.launch server:=10.1.1.198 & sleep 3
roslaunch odom_converter converter.launch & sleep 3
roslaunch ekf nokov.launch & sleep 3
roslaunch px4ctrl run_ctrl.launch 

Then, if all the programs are running smoothly, uncomment the FOURTH line and rerun the init module.

3 Ego module

#!/bin/bash
source ../devel/setup.bash
roslaunch ego_planner single_run_in_exp.launch 

You can modify the target points in src/planner/plan_manage/launch/single_run_in_exp.launch as following:

<arg name="point_num" value="4" />

<arg name="point0_x" value="5.0" />
<arg name="point0_y" value="0.0" />
<arg name="point0_z" value="0.8" />

<arg name="point1_x" value="2.5" />
<arg name="point1_y" value="0.0" />
<arg name="point1_z" value="0.96" />

<arg name="point2_x" value="2.5" />
<arg name="point2_y" value="0.0" />
<arg name="point2_z" value="1.0" />

<arg name="point3_x" value="2.5" />
<arg name="point3_y" value="0.0" />
<arg name="point3_z" value="1.0" />

4 Modify the Parameters before the First Run

4.1 px4ctrl

The main launch file px4ctrl/launch/run_ctrl.launch is as following:

<launch>
  <node pkg="px4ctrl" type="px4ctrl_node" name="px4ctrl" output="screen">
    <remap from="~odom" to="/ekf/ekf_odom" />
    <!-- <remap from="~cmd" to="/setpoints_cmd" /> -->
  	<!-- msg type: quadrotor_msgs::PositionCommand -->
    <remap from="~cmd" to="/position_cmd" /> 
    <rosparam command="load" file="$(find px4ctrl)/config/ctrl_param_fpv.yaml" />
  </node>
</launch>

Before your first flight, you need to modify the config file in src/px4ctrl/config/ctrl_param_fpv.yaml.

The following parameters are of significant importance:

• mass: 1.60 # kg
• takeoff_height: 0.8 # meter (relative height)
• hover_percentage: 0.25 # % percentage (derived from manual mode)
• takeoff_land_speed: 0.3 # m/s

4.2 VICON

The use of the VICON package depends on the pre-built rigid body model in the VICON server. You MUST modify the rigid_body argument to match your specific rigid body name.

<launch>
    <arg name="capture_num_" value="1" />
    <arg name="rigid_body" value="am_test" />
	
    <node pkg="odom_converter" type="odom_converter" name="odom_converter" output="screen">
        <param name="capture_num" value="$(arg capture_num_)" />
        <param name="cap_num" value="$(arg capture_num_)" type="int" />
        <remap from="~/pose0" to="/vrpn_client_node/$(arg rigid_body)/pose" />
        <remap from="~/twist0" to="/vrpn_client_node/$(arg rigid_body)/twist" />
    </node>
</launch>