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Inter IIT Tech Meet 10.0

Installation

ROS

You can find these installation instructions here.

Setup your 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'

Set up your keys

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

Update packages and install ROS

sudo apt update
sudo apt install ros-melodic-desktop-full

Setup the environment

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Dependencies

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

Rosdep

sudo apt install python-rosdep
sudo rosdep init
rosdep update

Note : We recommend you to create a new catkin_ws since you have to install mavros from source which needs you to do catkin build.

Ardupilot

Installing Ardupilot and MAVProxy

Clone ArduPilot

In home directory:

cd ~
sudo apt install git
git clone https://github.com/ArduPilot/ardupilot.git
cd ardupilot
git checkout Copter-3.6
git submodule update --init --recursive

Install dependencies:

sudo apt install python-matplotlib python-serial python-wxgtk3.0 python-wxtools python-lxml python-scipy python-opencv ccache gawk python-pip python-pexpect

Use pip (Python package installer) to install mavproxy:

sudo pip install future pymavlink MAVProxy

Open ~/.bashrc for editing:

gedit ~/.bashrc

Add these lines to end of ~/.bashrc (the file open in the text editor):

export PATH=$PATH:$HOME/ardupilot/Tools/autotest
export PATH=/usr/lib/ccache:$PATH

Save and close the text editor.

Reload ~/.bashrc:

. ~/.bashrc

Run SITL (Software In The Loop) once to set params:

cd ~/ardupilot/ArduCopter
sim_vehicle.py -w

Gazebo and Plugins

Gazebo

Setup your computer to accept software from http://packages.osrfoundation.org:

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

Setup keys:

wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

Reload software list:

sudo apt update

Install Gazebo:

sudo apt install gazebo9 libgazebo9-dev

Install Gazebo plugin for APM (ArduPilot Master) :

cd ~
git clone https://github.com/khancyr/ardupilot_gazebo.git
cd ardupilot_gazebo
git checkout dev

build and install plugin

mkdir build
cd build
cmake ..
make -j4
sudo make install

echo 'source /usr/share/gazebo/setup.sh' >> ~/.bashrc

Set paths for models:

echo 'export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models' >> ~/.bashrc
. ~/.bashrc

Run Simulator

In one Terminal (Terminal 1), run Gazebo:

gazebo --verbose ~/ardupilot_gazebo/worlds/iris_arducopter_runway.world

In another Terminal (Terminal 2), run SITL:

cd ~/ardupilot/ArduCopter/
sim_vehicle.py -v ArduCopter -f gazebo-iris --console

Install Mavros

please install mavros from source because we have changed the frame from LOCAL_NED to BODY_NED.

If you decide to use the already existing catkin_ws then be sure to remove the build and devel folders and do catkin build.

Link to install from source : Link

Modifying Mavros

After you install from source, please change the file set_velocity.cpp located at catkin_ws/src/mavros/src/plugins/setpoint_velocity.cpp.

New file : Link

Running Simulation

  • Download the interiit22 package from this repo and include it in your catkin_ws
  • Do catkin build (assuming you have done catkin build while installing mavros)
  • Go the the glimbal_small_2d folder of ardupilot_gazebo/models folder and change Line 164 in the models.sdf file.
<pointCloudCutoffMax>20.0</pointCloudCutoffMax>

We increased the range of Depth camera from 10m to 20m.

  • cd to the folder containing simulation sh file
 cd catkin_ws/src/interiit22
  • make it executable
chmod u+x startsim.sh
  • Open the terminal and launch the world file
./startsim.sh
  • Now please wait until the MavProxy console shows that the GPS is correct and now open a new terminal and run the following command . This will takeoff the drone upto 15m height.
rosrun interiit22 arm_and_takeoff.py --connect 127.0.0.1:14550
  • Now open a new terminal and run the move_drone.py
rosrun interiit22 move_drone.py
  • Now you can open rviz and visualize the topic /image_topic_2. This is the main topic which draws the contours on the image
  • Now start recording through rosbag
rosbag record -O bag_file_name /mavros/setpoint_velocity/cmd_vel_unstamped
  • After the drone completely moves the world, press Ctrl+C to stop the reording
  • Now play the recorded bag file
rosbag play bag_file_name.bag
  • Now open a new terminal and run
rosrun interiit22 move_prius.py

Collaborators:

  • Devyani Gorkar
  • Susim Mukul Roy
  • Aaditya Baranwal
  • Rahul Gopathi
  • Sainath Reddy
  • Challa Bhavani Shankar