Sorry for the mess, this is to be clean out, but for now it works as a space for all the theories and the results we have found over the course of the 4 month we worked on the thesis.
The thesis paper can be found in the thesis folder.
run
- sh compiling_scripts/newInstall.sh
- sh compiling_scripts/ParrotSphinxInstall.sh
parrot sphinx link general setup bebop commmands
insert into .bashrc: # ROS PROJECT source /opt/ros/kinetic/setup.bash source ~/Code/Drone_MARTIN/mapping/VINS_mono/devel/setup.bash
# Navigation source ~/Code/Drone_MARTIN/navigation/devel/setup.sh # Bebop_autonomy source ~/Code/Drone_MARTIN/bebop/devel/setup.bash
# CUDA export PATH=/usr/local/cuda/bin:$PATH export LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH
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Install parrot-sphinx from repos or manually.
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Install ROS
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Download and install bebop-autonomy in a ROS workspace
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In a terminal type “iwconfig” and copy the name that appears first in the network interface IEEE 802.11abgn. In my laptop it changes from time to time, but it’s normally either “eth0” or “wlp2s0”. I think there are ways to set this name permanently, but I didn’t try.
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In the file “bebop2.drone” (in my computer is placed in /opt/parrot-sphinx/usr/share/sphinx/drones/), paste the name from the previous step in the field “stolen_interface” as follows: <stolen_interface>wlp2s0:eth0:192.168.0.5/24</stolen_interface> or <stolen_interface>eth0:eth0:192.168.0.5/24</stolen_interface> depending on the name returned by the command “iwconfig”. Notice that I didn’t modified the IP or the port, and I also kept “eth0” in the middle. In my case, I keep one of the lines commented because sometimes (normally after the first run of Sphinx) the interface name is modified, so I have to use the other one to avoid getting errors.
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In the file “bebop_node.launch” change the IP address. I also keep the original one commented for when I need to run the simulator using the WiFi.
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In one terminal run the following commands: sudo systemctl start firmwared.service sudo firmwared
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In a new terminal run the sphinx simulator sphinx --datalog /opt/parrot-sphinx/usr/share/sphinx/worlds/outdoor_1.world /opt/parrot-sphinx/usr/share/sphinx/drones/bebop2_local.drone Notice that I don’t run the the original file “bebop2.drone”, because I created a new file called “bebop2_local.drone” and modified in this file what I told you before.
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In a new terminal run the bebop ROS node roslaunch bebop_driver bebop_node.launch
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Finally, to check that it works you can run in a new terminal the following commands to take off tand land he bebop drone rostopic pub --once bebop/takeoff std_msgs/Empty rostopic pub --once bebop/land std_msgs/Empty
RUN Roscore in first terminal
roscore
RUN firmware script in second
sudo systemctl start firmwared.servicesudo firmwared
RUN gazebo in third
sphinx --datalog /opt/parrot-sphinx/usr/share/sphinx/worlds/outdoor_1.world /opt/parrot-sphinx/usr/share/sphinx/drones/bebop2_local.drone
RUN Bebop ros node in fourth
roslaunch bebop_driver bebop_node.launch
RUN Image viewer
rosrun image_view image_view image:=/bebop/image_raw
ROS_NAMESPACE=bebop rosrun image_proc image_proc rosrun image_view image_view
Reset batteri: close
- bebop autonomy
- firmware
- sphinx
run sudo systemctl restart firmwared.service && sudo firmwared
start sphinx --datalog /opt/parrot-sphinx/usr/share/sphinx/worlds/outdoor_1.world /opt/parrot-sphinx/usr/share/sphinx/drones/bebop2_local.drone again
and spam bebop autonomy until it works
ssh pi@192.168.42.65
pass: Drone_MARTIN
rosrun kalibr kalibr_calibrate_imu_camera --target dataset/bebop2/april_6x6_A1.yaml --cam bebop2_camera_calib.yaml --imu PiSense_imu_param.yaml --bag dataset/bebop2/calib_A1_1.bag --timeoffset-padding 1 --verbose
ros bag to png:
rosrun image_view extract_images _sec_per_frame:=0.01 _filename_format:="frame%04d.png" image:=/bebop/image_mono
run calibration
rosrun camera_model Calibration -w 6 -h 7 -s 40.05 --camera-model pinhole --camera-name bebop-front --opencv --view-results -v -p frame -i img/