Merge pull request #36 from h2r/release/v2.3

PR for merging release/v2.3 into master

README.md

@@ -39,6 +39,38 @@ For Stefanie Tellex's class
 
 - See web interface for a list of drone input controls.
 
+## How to Connect to Home Network
+
+1. (Skip step if done before)
+   On drone, run the following:
+   - ```
+      cd /etc/wpa_supplicant
+      sudo ./generate_wpa_supplicant_conf.sh
+      ```
+      or alternatively
+      ```
+      roscd pidrone_pkg/
+      cd networking
+      sudo ./generate_wpa_supplicant_conf.sh
+      sudo mv wpa_supplicant.conf /etc/wpa_supplicant
+      ```
+      When prompted, enter credentials for home network.
+2. On drone, run the following:
+   - ```
+      roscd pidrone_pkg/
+      python networking/connect_to_user_wifi.py
+      ```
+      or alternatively
+      ```
+      cd /etc/wpa_supplicant
+      ./connect_to_user_wifi.sh
+      ```
+   - the ssh session to the drone will terminate shortly after. The wifi connection to the drone will disconnect.
+3. On base station:
+   - connect to home network (instead of drone network)
+   - open a terminal or command prompt and run `ssh duckiesky@<hostname>`, where `<hostname>` is the hostname of the drone (found in file `/etc/hostname`). The default is `duckiesky-drone`.
+   - A password prompt will appear. After entering the password, the ssh connection to the drone will be complete.
+
 ## Warnings
 
 - Starting with release v2.2-kinetic, all releases work on ROS Kinetic (unless specified otherwise). Older releases do not - they only work up to ROS Indigo. Furthermore, releases v2.2-kinetic and higher do not have backward compatibility with older versions of ROS.

VERSION

@@ -1 +1 @@
-2.2-kinetic
+2.3-kinetic

connect_to_rlab.py → networking/connect_to_user_wifi.py

@@ -8,4 +8,4 @@
     os.system("sudo ifdown wlan0")
 # Starting wpa_supplicant
     os.system("sudo wpa_supplicant -B -i wlan0 -c /etc/wpa_supplicant/wpa_supplicant.conf")
-    os.system("sudo ifup wlan0=rlab_wifi")
+    os.system("sudo ifup wlan0=user_wifi")

networking/connect_to_user_wifi.sh

@@ -0,0 +1,26 @@
+#!/bin/bash
+
+# Purpose:    Stops the device from running as a DHCP 
+#             server, then puts it on the network 
+#             specified in WPA_SUPP_CONF_FILE.
+# NOTE:       Re-tooled from connect_to_user_wifi.py
+#             in h2r/pidrone_pkg github repo.
+# Author:     Nishant Kumar
+# Contact:    [email protected]
+
+WPA_SUPP_CONF_FILE="/etc/wpa_supplicant/wpa_supplicant.conf"
+WIFI="user_wifi"
+
+if [[ ! -r "${WPA_SUPP_CONF_FILE}" ]]; then
+	echo "Missing required conf file ${WPA_SUPP_CONF_FILE}. Please create it and try again."
+	exit 1
+fi
+
+# Stopping Services
+sudo systemctl stop hostapd
+sudo systemctl stop isc-dhcp-server.service
+sudo ifdown wlan0
+
+# Starting wpa_supplicant
+sudo wpa_supplicant -B -i wlan0 -c "${WPA_SUPP_CONF_FILE}"
+sudo ifup wlan0="${WIFI}"

networking/generate_wpa_supplicant_conf.sh

@@ -0,0 +1,61 @@
+#!/bin/bash
+
+# Purpose:    Generates a new wpa_supplicant.conf file by 
+#             inserting user-provided network credentials
+#             (with hashed password for security) into a 
+#             template wpa_supplicant conf file.
+# Author:     Nishant Kumar
+# Contact:    [email protected]
+
+WPA_CONF_TEMPLATE="wpa_supplicant.conf.template"
+OUTPUT_FILE="wpa_supplicant.conf"
+BACKUP_FILE="${OUTPUT_FILE}"".bak"
+TEMP_FILE_FOR_GENERATED_NETWORK="/tmp/generated_network.XXXX"
+
+function print_wpa_passphrase_error() {
+	if [[ -n "${temp_generated}" ]]; then
+		echo "${temp_generated}" | sed '/#.*$/d'
+	fi
+}
+
+function cleanup() {
+	echo "Cleaning up..."
+	shred -n 50 -z -u "${TEMP_FILE_FOR_GENERATED_NETWORK}" > /dev/null 2>&1
+	echo Done
+}
+
+trap "ec=\$?; cleanup; exit \$ec" EXIT INT
+trap "ec=\$?; print_wpa_passphrase_error; exit \$ec" ERR
+
+read -ep "Enter network's ssid: " ssid
+read -esp "Enter network's password: " pass1
+echo
+read -esp "Verify network's password: " pass2
+echo
+
+if [[ "$pass1" != "$pass2" ]];
+then
+	echo "Password verification failed. Please try again."
+	exit 1
+fi
+
+if [[ -f "${OUTPUT_FILE}" ]];
+then
+	cp "${OUTPUT_FILE}" "${BACKUP_FILE}"
+	echo Backed up current "${OUTPUT_FILE}" to "${BACKUP_FILE}"
+fi
+
+temp_generated="$(echo "${pass1}" | wpa_passphrase "${ssid}")"
+echo "${temp_generated}" | sed '/#.*$/d' > "${TEMP_FILE_FOR_GENERATED_NETWORK}"
+echo "Generated new network configuration"
+
+# If reached this far, ERR trap did not trigger due to wpa_passphrase error.
+# So if ERR trap triggers after this point, it should not print temp_generated,
+# since wpa_passphrase is not to blame (i.e. temp_generated does not contain
+# an error message). Therefore, setting temp_generated to blank so that 
+# print_wpa_passphrase_error func does not print it. 
+temp_generated=
+
+
+sed -e "/<network>/r ${TEMP_FILE_FOR_GENERATED_NETWORK}" -e '//d' < "${WPA_CONF_TEMPLATE}" > "${OUTPUT_FILE}"
+echo "Inserted new network configuration into template ${WPA_CONF_TEMPLATE}, then overwrote ${OUTPUT_FILE}"

networking/wpa_supplicant.conf.template

@@ -0,0 +1,5 @@
+country=us
+update_config=1
+ctrl_interface=/var/run/wpa_supplicant
+
+<network>

scripts/pid_controller.py

@@ -389,7 +389,7 @@ def main(ControllerClass):
 
                 # Safety check to ensure drone does not fly too high
                 if (pid_controller.current_state.pose_with_covariance.pose.position.z >
-                0.5):
+                0.7):
                     fly_command = cmds.disarm_cmd
                     print("\n disarming because drone is too high \n")
                     break