large scale plan and controls

A large scale planner and corresponding controller for quadrotor.

Run the Code

run the code

• clone the repo in your catkin workspace

  • mavros should be installed in this workspace.

  cd ~/catkin_ws/src/		# go into your catkin workspace
  git clone https://github.com/arclab-hku/largescale_plannctrl.git
  

• build the ros package

  cd ~/catkin_ws/		# go into your catkin workspace
  catkin build plannctrl
  

• source bash file & launch

  source devel/setup.bash
  roslaunch plannctrl ctrlEnv.launch
  

• set your way-points in src/waypoints.txt

  • The first line of the file is the number of way-points. The rest are the x-y-z coordinate of the way-points.

• source bash file & run

  # open a new terminal
  cd ~/catkin_ws/		# go into your catkin workspace
  source devel/setup.bash
  cd src/largescale_plannctrl/src		# go into folder with waypoints.txt
  rosrun plannctrl track_node
  

• setting parameters: parameters can be set after rosrun

  • the first argument is maximum velocity, the second is acceleration

  rosrun plannctrl track_node 15.0 2.0
  

  • the default maximum velocity is 15.0, default acceleration is 2.0.
  • the path for reading way points can be set in include/planners/wayp_reader.cpp

read and log

• read way points
  • Set the way points in the src/waypoints.txt.
  • The first line of the file is the number of way-points. The rest are the x-y-z coordinate of the way-points.

the repos

launch/

This folder includes all launch files.

The ctrlEnv.launch file launches MAVROS, PX4 SITL, Gazebo and also the Gazebo environment including ground plane and iris model.

Roslaunch the launch file before rosrun the codes.

include/

This folder includes all modules for c++, including:

• simulation and off-board flight environment offboard_env/) with corresponding call backs(call_states);
• controllers and planners;
• tracking references;

src/

This folder includes all c++ main codes.

Install Mavros in your catkin workspace

reference

Prerequsites: ROS, Gazebo, px4

## Install dependencies
sudo apt-get install python-catkin-tools python-rosinstall-generator -y

## Create catkin workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
wstool init src

## 1. SInstall MAVLink
###we use the Kinetic reference for all ROS distros as it's not distro-specific and up to date
rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall

## 2. Install MAVROS from source using either released or latest version:
## Released/stable
rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall

## 3. Create workspace & deps:
wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src
rosdep install --from-paths src --ignore-src -y

## 4. Install GeographicLib datasets:
sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh

## 5. Build source
catkin build

# 6. Make sure that you use setup.bash or setup.zsh from workspace.
source devel/setup.bash
. devel/setup.bash

Launch Gazebo with ROS Wrappers

To run SITL wrapped in ROS the ROS environment needs to be updated, then launch as usual:

cd <Firmware_clone>
DONT_RUN=1 make px4_sitl_default gazebo
source ~/catkin_ws/devel/setup.bash    
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo