RNE robot cooperation

Development environment

• drone framework PX4
• ROS package
  • mavros
  • tams_apriltags
  • apriltag_ros
  • usb_cam
  • mavros_controller
  • jackel

Setup simulation

1. install jackel simulation in gazebo. For ros noetic

  sudo apt-get install ros-noetic-jackal-simulator ros-noetic-jackal-desktop ros-noetic-jackal-navigation

If ros-noetic-jackal-desktop cannot be located, then

  wget https://packages.clearpathrobotics.com/public.key -O - | sudo apt-key add -
sudo sh -c 'echo "deb https://packages.clearpathrobotics.com/stable/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/clearpath-latest.list'
sudo apt-get update

Launch a jackel in simulation

  roslaunch jackal_gazebo jackal_world.launch

without gazebo gui 1.

  roslaunch jackal_gazebo jackal_world.launch gui:=false

2. view in rviz

  roslaunch jackal_viz view_robot.launch

2. install and configure a drone with PX4 firmware

Simulation test

1. launch simulation:

• empty word in gazebo
• jackal robot + apriltag
• drone with framework being px4
• fake vicon
• onboard node + mavros

  roslaunch rne_gazebo RNE_simu_setup.launch

2. launch drone controller + takeoff setpoint

• mavros_controller
• drone home position
• drone takeoff height

  roslaunch rne_control rne_mission_control.launch

2. launch apriltag and visual servoing

  roslaunch rne_vs rne_vs.launch

3. launch switch node

rosrun plotjuggler plotjuggler

takeoff test

1. swarn drone with camera and arpiltag into simulation

      <include file="$(find rne_gazebo)/launch/RNE_simu.launch"></include>

2. run drone controller to receive commands from /reference/setpoint and send control input bodyrate to /mavros/setpoint_raw/attitude

  <!-- drone controller -->  
  <arg name="mav_name" default="iris"/>
  <arg name="command_input" default="2" />
  <arg name="gazebo_simulation" default="true" />

  <node pkg="geometric_controller" type="geometric_controller_node" name="geometric_controller" output="screen">
        <param name="mav_name" type="string" value="$(arg mav_name)" />
            <remap from="command/bodyrate_command" to="/mavros/setpoint_raw/attitude"/>
            <param name="ctrl_mode" value="$(arg command_input)" />
            <param name="enable_sim" value="$(arg gazebo_simulation)" />
            <param name="max_acc" value="10.0" />
            <!--Params specific for Iris copter-->
            <param name="attctrl_constant" value="0.3"/>
            <param name="normalizedthrust_constant" value="0.06"/>
            <param name="normalizedthrust_offset" value="0.1"/>
            <param name="Kp_x" value="10.0" />
            <param name="Kp_y" value="10.0" />
            <param name="Kp_z" value="20.0" />
            <param name="Kv_x" value="5.0"/>
            <param name="Kv_y" value="5.0"/>
            <param name="Kv_z" value="10.0"/>            
    </node>

3. undertake arpiltag detection

  <include file="$(find apriltag_ros)/launch/rne_continuous_detection.launch">
  </include> 

4. run takeoff node to send one single setpoint to /reference/setpoint

      <node pkg="geometric_controller" type="geometric_controller_takeoff_node" name="geometric_takeoff" output="screen">
  </node>