================ Mavros debuging =============== e.g unable to take off rosrun mavros checkid rostopic echo /mavros/state rostopic echo -n 1 /mavros/state rostopic echo -n 1 /diagnostics

ERROR: Unknown model iris_depth_camera (not found by name on

cd workspace/src cp Fast-Planner/storage/1024_iris_depth_camera ~/.ros/etc/init.d-posix/airframes/1024_iris_depth_camera ??mzahana sudo apt install ros-noetic-multi-map-server

=========== Install ===========

ERROR: missing geometric_controller or mavros_controllers

git clone https://github.com/Jaeyoung-Lim/mavros_controllers.git

???

https://github.com/HKUST-Aerial-Robotics/mockasimulator

============= Normal fast-planner ==============

T1

source devel/setup.bash && roslaunch plan_manage rviz.launch

T2

source devel/setup.bash && roslaunch plan_manage kino_replan.launch

=============== Beomsu7 =================

https://github.com/beomsu7/Fast-Planner

T1

roslaunch plan_manage px4_sitl_kino_replan.launch

T2

rosrun mavros mavsafety arm

T3

rosrun mavros mavsys mode -c OFFBOARD

================ Mzahana =================

https://github.com/mzahana/px4_fast_planner

T1

roslaunch px4_fast_planner px4_fast_planner.launch

T2

rostopic pub --once /move_base_simple/goal geometry_msgs/PoseStamped "header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: '' pose: position: x: 19.0 y: 15.0 z: 3.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0"

============ Fast Planner ERROR ===========

Triggered! [TRIG]: from WAIT_TARGET to GEN_NEW_TRAJ [kino replan]: ----------------------- start: -0.0112145 -0.00287183 -0.00545828, -0.00900632 -0.00325972 -0.0105637, 0 0 0 goal:0 0 1, 0 0 0 [fast_planner_node-2] process has died [pid 99980, exit code -11, cmd /home/rajendra/drone_ws/devel/lib/plan_manage/fast_planner_node /odom_world:=/mavros/local_position/odom /sdf_map/odom:=/mavros/local_position/odom /sdf_map/cloud:=/pcl_render_node/cloud /sdf_map/pose:=/mavros/local_position/pose /sdf_map/depth:=/d435/depth/image_rect_raw __name:=fast_planner_node __log:=/home/rajendra/.ros/log/cf8b4932-4483-11ec-a2f0-cf1b4db027f8/fast_planner_node-2.log]. log file: /home/rajendra/.ros/log/cf8b4932-4483-11ec-a2f0-cf1b4db027f8/fast_planner_node-2*.log

=================== Vins-fusion ============

https://github.com/HKUST-Aerial-Robotics/VINS-Fusion

1. Clone

cd ~/drone_ws/src git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git cd ../

2. Download and Install ceres-solver

sudo apt-get install cmake sudo apt-get install libgoogle-glog-dev libgflags-dev sudo apt-get install libatlas-base-dev sudo apt-get install libeigen3-dev sudo apt-get install libsuitesparse-dev

http://ceres-solver.org/ceres-solver-2.0.0.tar.gz cp ~/Downloads/ceres-solver-2.0.0.tar.gz . tar zxf ceres-solver-2.0.0.tar.gz mkdir ceres-bin cd ceres-bin cmake ../ceres-solver-2.0.0 make -j3 make test make install

3. Build

catkin_make

4. Errors

error: ‘integer_sequence’ is not a member of ‘std’

colmap/colmap#905 https://programmerah.com/solved-ceres-compile-error-integer_sequence-is-not-a-member-of-std-31728/ https://stackoverflow.com/questions/17424477/implementation-c14-make-integer-sequence My ErrorLog.txt => https://gist.github.com/iamrajee/6e43d88e65214f2fa96a30d3dcb365bb Solution (c++11 => c++14) in: cd ~/drone_ws/src/VINS-Fusion code camera_models/CMakeLists.txt code global_fusion/CMakeLists.txt code loop_fusion/CMakeLists.txt code vins_estimator/CMakeLists.txt

rosrun vins vins_node ~/drone_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml => Segmentation Fault HKUST-Aerial-Robotics/VINS-Fusion#134 HKUST-Aerial-Robotics/VINS-Fusion#106 (comment) https://github.com/mrdavoodi/VINS-Fusion/commits/master

cd ~/drone_ws/src/VINS-Fusion

code camera_models/include/camodocal/calib/CameraCalibration.h https://github.com/mrdavoodi/VINS-Fusion/commit/0e50050be32a8a5292b862fa86a605e3adf6761e

code camera_models/include/camodocal/camera_models/Camera.h https://github.com/mrdavoodi/VINS-Fusion/commit/fc3f3ccd1786dec1fe73baeb2900a8992ee3cc65

code camera_models/include/camodocal/chessboard/Chessboard.h https://github.com/mrdavoodi/VINS-Fusion/commit/0461b57850d5b5393b9476950f883178670a71b9

code loop_fusion/src/ThirdParty/DVision/BRIEF.h https://github.com/mrdavoodi/VINS-Fusion/commit/37144c454117092baac22818caf9c8e33c7e66f0

ERROR: fatal error: opencv2/imgcodecs/legacy/constants_c.h: no such file or directory ros

Because using old version of opencv opencv/opencv#13201 https://github.com/opencv/opencv/pull/13253/commits/562676c5dae4d25b00f88556bd8de99330d4e484 raulmur/ORB_SLAM2#782 https://answers.ros.org/question/225229/error-opencv2imgcodecshpp/

Solution 1. Tried didn't work

cd /usr/include/opencv/modules/imgcodecs/include/opencv2/imgcodecs sudo cp -r /usr/include/opencv4/opencv2/imgcodecs/legacy . (But have to build again so aborded => mv legacy/ .legacy/)

Solution 2. Changing CV bridge opencv version older(3 or opencv) to newer(4)

cd /opt/ros/noetic/share/cv_bridge/cmake code cv_bridgeConfig.cmake => din't work

Simple =>? removing that inclusion (#include "opencv2/imgcodecs/legacy/constancts_c.h").

Doesn't either Works?

fatal error: development/mavlink.h: No such file or directory

PX4/PX4-SITL_gazebo-classic#823 cd ~/px4_ws/src/PX4-SITL_gazebo git checkout 6fa6ec78a7a1619b7b90ac0c01aaec919defbe35

?? catkin_make [100%] Linking CXX executable /home/rajendra/drone_ws/devel/lib/vins/vins_node /usr/bin/ld: warning: libopencv_video.so.4.2, needed by /home/rajendra/drone_ws/devel/lib/libvins_lib.so, may conflict with libopencv_video.so.3.4 [100%] Built target vins_node

rtab drone

cd drone_ws/src https://github.com/matlabbe/rtabmap_drone_example git clone https://github.com/matlabbe/rtabmap_drone_example.git git clone https://github.com/SyrianSpock/realsense_gazebo_plugin.git cd ../ ./rosdep sudo apt install ros-noetic-teleop-twist-joy sudo apt install ros-noetic-imu-complementary-filter catkin_make

roslaunch rtabmap_drone_example gazebo.launch roslaunch rtabmap_drone_example rviz.launch roslaunch rtabmap_drone_example slam.launch rosrun rtabmap_drone_example offboard

?? rosrun teleop_twist_keyboard teleop_twist_keyboard.py

========= malithana rrt roscore rosrun rrt-planning rrt rosrun rviz rviz #add mark from available topic

======================== Ardupilot ========================

Linux

Installation: https://ardupilot.org/dev/docs/building-setup-linux.html Setting up SITL on Linux: https://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html

built

cd ~/drone_ws/ardupilot ./waf configure --board sitl

configure

cd ~/drone_ws/ardupilot/ArduCopter sim_vehicle.py -w (once)

run

sim_vehicle.py --console --map

/home/rajendra/drone_ws/ardupilot/Tools/autotest/sim_vehicle.py -v ArduCopter --no-extra-ports -I 0 --out=udp:54.161.56.169:14550

/home/rajendra/drone_ws/ardupilot/Tools/autotest/sim_vehicle.py -v ArduCopter --console --map --no-extra-ports -I 0 --out=udp:54.161.56.169:14550

======================== HKUST/FUEL ========================

#error PCL requires C++14 or above 7 | #error PCL requires C++14 or above => Change to c++11 to c++14
=> https://www.google.com/search?q=%23error+PCL+requires+C%2B%2B14+or+above+7+%7C+%23error+PCL+requires+C%2B%2B14+or+above&oq=%23error+PCL+requires+C%2B%2B14+or+above+7+%7C+++%23error+PCL+requires+C%2B%2B14+or+above&aqs=chrome..69i57.316j0j7&sourceid=chrome&ie=UTF-8
PointCloudLibrary/pcl#2968
https://programmerah.com/error-error-pcl-requires-c14-or-above-44572/

====================== FUEL ===================

https://github.com/HKUST-Aerial-Robotics/FUEL

T1

source devel/setup.bash && roslaunch exploration_manager rviz.launch

T2

source devel/setup.bash && roslaunch exploration_manager exploration.launch