ap_nongps

** Hardware implementation and Transformer & Optimisation based VPS

This repository is a work-in-progress and need further modifications. Much of the code variables have been hardcoded to test the algorithm and it'll be solved in upcoming commits.

Setup script

You can clone this repo to $HOME and run the ./setup.sh script directly to set it all up at once (give root access if required (sudo)).

chmod +x setup.sh
./setup.sh

Setup ardupilot_gazebo

The first step assumes you have build the ArduPilotPlugin and got ardupilot_gazebo setup on the system. Follow the instructions provided here if not.

Configure

Set the Gazebo environment variables in your .bashrc or .zshrc or in the terminal used to run Gazebo.

Assuming that you have cloned the repository to $HOME/ardupilot_gazebo:

export GZ_SIM_RESOURCE_PATH=$HOME/ap_nongps/models:$HOME/ap_nongps/worlds:$GZ_SIM_RESOURCE_PATH

.bashrc or .zshrc

Assuming that you have cloned the repository to $HOME/ardupilot_gazebo:

echo 'export GZ_SIM_RESOURCE_PATH=$HOME/ap_nongps/models:$HOME/ap_nongps/worlds:$GZ_SIM_RESOURCE_PATH}' >> ~/.bashrc

Reload your terminal with source ~/.bashrc.

Installation and Setup

For Ubuntu:

sudo apt-get install libgirepository1.0-dev libcairo2-dev
sudo apt-get install gobject-introspection

For macOS:

brew install cairo
brew install gobject-introspection
brew install inih

Install python requirements:

pip install -r requirements.txt

Terminal 1:

For Gazebo Harmonic / Garden:

gz sim -v4 -r iris_runway_ngps.sdf

Start streaming

gz topic -t /world/iris_runway/model/iris_with_gimbal/model/gimbal/link/pitch_link/sensor/camera/image/enable_streaming -m gz.msgs.Boolean -p "data: 1"

The terminal used to launch Gazebo should display the following if the streaming started correctly:

[Msg] GstCameraPlugin:: streaming: started
[Dbg] [GstCameraPlugin.cc:407] GstCameraPlugin: creating generic pipeline
[Msg] GstCameraPlugin: GStreamer element set state returned: 2
[Msg] GstCameraPlugin: starting GStreamer main loop

Terminal 2:

cd ardupilot && sim_vehicle.py -D -v ArduCopter -f JSON --add-param-file=$HOME/ardupilot_gazebo_ap/config/gazebo-iris-gimbal-ngps.parm --console --map

Takeoff 10m as it is hardcoded for the time being

mode GUIDED
arm throttle force    # because of visual odom the arming checks report the VisOdom is not healthy; we have to force for the initial takeoff
takeoff 10

Now set params:

# set roll to centre
Guided> rc 6 1500

# set pitch directly downwards
Guided> rc 7 1300

# set yaw to centre
Guided> rc 8 1500

Terminal 3:

# Run the camera based state estimator
cd src && python video_to_feature.py

If everything's working, then you'll see the following output:

$ python video_to_feature.py
Heartbeat from system (system 1 component 0)
Offset x, y(in cms):  0.1942269262460972 -0.3884538524921944
Offset x, y(in cms):  0.1942269262460972 -0.3884538524921944
Offset x, y(in cms):  0.1942269262460972 -0.3884538524921944
Offset x, y(in cms):  0.1942269262460972 -0.3884538524921944