This repository contains work done for AHS micro aerial vehicle challenge
This module requires ros kinetic and catkin worspace installed in your local system.
- To build the module in your catkin_ws copy and paste all the folders inside ROSTerpcopterModule into catkin_ws/src folder and run catkin build
Terpcopter team choose Buggy/ snappy drone to be the master and slave to be GNC laptops. To reflect the setup, make the following changes in your Laptop's bashrc:
nano ~/.bashrc
export ROS_MASTER_URI=http://<ip address of the drone>:11311
export ROS_HOSTNAME= <ip of laptop>
on snappy/buggy drone
nano ~/.bashrc
export ROS_MASTER_URI=http://<ip address of the drone>:11311
export ROS_HOSTNAME= <ip of the drone>
roslaunch mavros px4.launch
In a new terminal [2]
cd amav_ws
roslaunch terpcopter_driver/terpcopter_teraranger_node.launch
Edit the loadParams.m file env variables accordingly.
cd GUI and launch Master_GUI.m
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The teensy board on which the flow probe is attached might not work (Serial input pauses after a few lines). Follow instructions on this link to install the latest UDEV Rules for the board : https://www.pjrc.com/teensy/49-teensy.rules
-
The serial porst need root access to run. Try steps in this link to change : https://askubuntu.com/a/58122
- Power on odroid and connect pixhawk. Connect flowprobe only after pixhawk powers on (else serial port changes. can change this in code but better than correcting it everytime just follow this order for connection).
- Run command in terminal :
roslaunch terpcopter_driver terpcopter_flow_probe_node.launch
- Node publishes velocity in standard float32 message. Might print 2 values in terminal. Ignore second value.
- Note the value of the velocity and corresponding direction of quadrotor. Mount according to marked side on flowprobe pointing to front of the drone. If no mark present adjust for sign in code.
-
The teensy board on which the flow probe is attached might not work (Serial input pauses after a few lines). Follow instructions on this link to install the latest UDEV Rules for the board : https://www.pjrc.com/teensy/49-teensy.rules
-
The serial porst need root access to run. Try steps in this link to change : https://askubuntu.com/a/58122
When launching launch files one might get "... is not a launch file". If this is the case:
cd into workspace catkin_ws
source ./devel/setup.bash
Odroid Desktop no launch bar fix: source: https://ubuntuforums.org/showthread.php?t=2337119
1) Open a hard terminal again using [Crtl]+[Alt]+[F1] - and log in if necessary
2) $ cd ~/.config/dconf
3) $ rm user
4) $ cp user.bak user
5) $ kill -9 -1
# Terpcopter-Vision
- Start the drone and ssh into odroid `ssh odroid@192.168.1.88` and password `odroid`
- Launch the camera node from the odroid
roslaunch terpcopter_driver terpcopter_camera_node.launch
- To run vision algorithms download the Terpcopter-vision folder and extract the src file in a catkin workspace and make using `catkin_make`
- Then run the perception using
rosrun camera_package cameraSub.py
When a camera is connected mavros is not able to pull topics from pixhawk due to usb port issue. To fix:
- Unplug all usb connections from Odroid
- Plug pixhawk usb and launch mavors
- Now connect rest of the usb's back
Resize and clone in linux: