ROS (1) node for relaying mocap data from ROS to the drone over MAVlink.
- Pymavlink is installed: https://github.com/ArduPilot/pymavlink
- ROS is installed (only tested with noetic): http://wiki.ros.org/noetic/Installation/Ubuntu
- MAVProxy is installed: https://ardupilot.org/mavproxy/docs/getting_started/download_and_installation.html
- For mocap to work you need to upload these parameters: https://github.com/AscendNTNU/Drone-parameters/blob/main/mocap.params
- Both your Ubuntu computer and the qualisys computer is connected to the ascend network
Source ros and start a roscore
source /opt/ros/noetic/setup.bash
roscore
- Login with PIN 0052
- Start the Qualisys software and choose the QualisysAscend project.
- Start recording (click red dot) and click "cancel" to open the 3D display.
- If the drone is not already defined in Qualisys do it by selecting the dots on the drone, right click one of them and create a new body. When doing this the drone should point in the direction of the x-axis. Give the drone a suiting name.
- Open a terminal by clicking on the terminal icon in the taskbar.
- Source the local workspace setup with the following command
devel\setup.bat
Set the ROS_MASTER_URI to the ip of the Ubuntu pc (probably 192.168.0.115) and port 11311
setx ROS_MASTER_URI "http://192.168.0.115:11311"
Set the ROS_IP to the ip of the Windows pc (probably 192.168.0.100)
setx ROS_IP "192.168.0.100"
Run the qualisys node
roslaunch mocap_qualisys qualisys.launch
At this point the drone should be powered on and the telemetry radio should be connected to the Ubuntu pc
Launch mavproxy where you installed it (probably in home) (make sure QGroundControl is not running when launching mavproxy)
mavproxy --master=/dev/ttyUSB0 --out=udp:127.0.0.1:14550 --out=udp:127.0.0.1:14551 --out=udp:127.0.0.1:14552
If this doesn't work you can try changing ttyUSB0 to ttyUSB1
mocap_node uses udp:127.0.0.1:14551 as default. That means udp:127.0.0.1:14550 is free for for example QGroundControl, and udp:127.0.0.1:14552 is free for other stuff.
Go in to your ROS workspace (ws) and launch mocap_node. Remember to source both ros and devel/setup.bash first.
roslaunch mocap_node mocap.launch drone:=nostromo
Change nostromo with the name you gave the drone.
Now you should be able to arm and take off.
The ATT_POS_MOCAP message contains a time_usec field which needs to be filled. This field is filled with local time on the computer running mocap_node. To compensate for Qualisys processing delay of 6-7 ms and the transmission delay from the computer running Qualisys to the computer running mocap_node, VISO_DELAY_MS is set to 10 ms. Here we assumed that the flight controller is synced with the mocap_node computer. It is believed that this is done thorugh Mavproxy.
There is no need to set origin and home explicitly. But if you have to, check the scripts folder.