https://github.com/alexistm/indoor_position_lasers

Indoor positionning system based on lasers, working with an embedded computer, ROS and the PixHawk
https://github.com/alexistm/indoor_position_lasers

Last synced: about 1 year ago
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Indoor positionning system based on lasers, working with an embedded computer, ROS and the PixHawk

• Host: GitHub
• URL: https://github.com/alexistm/indoor_position_lasers
• Owner: AlexisTM
• License: mit
• Created: 2016-01-18T08:30:38.000Z (over 10 years ago)
• Default Branch: master
• Last Pushed: 2016-10-07T08:38:57.000Z (over 9 years ago)
• Last Synced: 2025-03-02T14:48:43.529Z (over 1 year ago)
• Language: C++
• Size: 24.7 MB
• Stars: 1
• Watchers: 6
• Forks: 2
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

          
Positionning system with fixed lasers : 

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Requierments

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Software 

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* Working ROS Embedded Linux (RPi2 under Ubuntu 14.04 or Odroid-XU4)

* Mavros & Mavros Extras installed

* Rosserial Installed

* Knowing how to create a ROS workspace

Install

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* Create & source a workspace

* Clone rosserial into the `src` folder of your catkin workspace

* Copy laserpack folder into the `src` folder of your catkin workspace 

* Build your workspace :  `catkin_make` or `catkin build` 

* Build Arduino librairies 

	* rosrun rosserial_Arduino make_librairies.py destination_folder # destination_folder can be `.` for **here** or `~` for **home**. There should be NO folder called ros_lib in the destination_folder

	* copy ros_lib folder to the Arduino librairies

* Start/restart the Arduino IDE, build & upload the code

* Edit the launch file from rosserial to change the Arduino Serial port(`roscd rosserial`, `nano launch/node_serial.launch`) from ttyACM0 to ttyACM1 or ttyUSB (depends on how the Arduino is detected)

CheckList for fast start-up

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* Start the Linux embedded

* Connect the PixHawk via a FTDI connector to TELEM1 or USB *NOT RECOMMANDED* (The USB connector is disabled by the PixHawk if there is no connection since 30 seconds (save power))

* `$ roscore` # Start ROS main process

* Connect the Arduino via the USB (Note : On the Odroid, there is a conflict using the Arduino & PixHawk on the same hub... The PixHawk shutdown & restart when the Arduino is removed. No explanation)

* `$ roslaunch mavros px4.launch` # Start Mavros HAL(Hardware Abstraction Layer) service 

* `$ roslaunch rosserial_server node_serial.launch` # Listen to the Arduino, it will publish data to `/lasers/raw`

* `$ rosrun laserpack position_algorithm.py` # Transform measurements to position and euler angles

* `$ rosrun laserpack pixhawk_control.py` # Send positions to the PixHawk, Arm, Offboard, Setpoints

Arduino

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* Fritzer schema

* Connect it

Architecture

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* Roscore   : Main node

* Mavros    : MAVLink abstraction layer (MAVLink over UART protocol)

  - Publish to /mavros topics

  - Subscribe to /mavros topics

* Rosserial : Arduino abstraction layer (UART Standardized protocol)

  - rosserial_python/message_definitions.py - gives definitions of the messages

  - rosserial_python/serial_node.py - python uart listener

  - rosserial_server/serial_node - C++ uart listener : Better efficiency

  - Publish to /lasers/raw

* laserpack : Custom messages definitions & script container

  - laserpack/position_algorithm.py - Translate readings to position

  	- Subscribe to /lasers/raw  (laserpack::distance type)

  	- Subscribe to /mavros/imu/data (sensors_msgs::Imu type)

  	- Publish to /lasers/pose (sensors_msgs::PoseStamped type)

  - laserpack/pixhawk_control.py

    - Subscribe to /lasers/pose (sensors_msgs::PoseStamped type) - Gives the custom position we will send

  	- Subscribe to /mavros/imu/data (sensors_msgs::Imu type) - Get the PixHawk IMU

    - Subscribe to /mavros/state (mavros_msgs::State type)

    - Subscribe to /mavros/local_position/pose (sensors_msgs::PoseStamped type)

  	- Service to /mavros/cmd/arming (mavros_msgs::CommandBool type)

    - Service to /mavros/set_mode (mavros_msgs::SetMode type)

 	- Publish to /mavros/setpoint_position/local (sensors_msgs::PoseStamped type)

 	- Publish to /mavros/mocap/pose (sensors_msgs::PoseStamped type)

Todo

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* Adapt Algorithm to get Euler angles from 6 measurments

* Create a roslaunch that start everything