https://github.com/kumarrobotics/starling2_interface
Starling 2 Integration
https://github.com/kumarrobotics/starling2_interface
Last synced: 3 months ago
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Starling 2 Integration
- Host: GitHub
- URL: https://github.com/kumarrobotics/starling2_interface
- Owner: KumarRobotics
- Created: 2023-07-14T16:17:11.000Z (almost 2 years ago)
- Default Branch: main
- Last Pushed: 2024-09-13T23:37:48.000Z (8 months ago)
- Last Synced: 2024-12-27T05:41:47.563Z (5 months ago)
- Language: CMake
- Size: 43 KB
- Stars: 1
- Watchers: 6
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# starling2_interface
Starling 2 Interface is meant to be used in cooperation with the following packages:
[repo::branch - link]
kr_falcon_interface::master - https://github.com/tyuezhan/kr_falcon250_interface/tree/master
kr_mav_control::master - https://github.com/KumarRobotics/kr_mav_control
quadrotor_ukf::starling2_integration - https://github.com/tyuezhan/quadrotor_ukf/tree/starling2_integration
# Starling2 Setup
## Wifi Setup
The Starling 2 only has DHCP, so setting a Static IP is not possible [0], meaning you have to set the IP through the router. After powering on the Starling 2, connect to the wifi with the following command:
`voxl-wifi`
After this, enter `2` for station and enter `mrsl_mast` for SSID and enter the password. Get the password from senior lab members if you don’t know it. To set up the static IP, connect to the mrsl_mast network and go to `192.168.8.1` to get to the router. Username is `admin` and you can get the password from Fernando Cladera.
Once on the website, go to the Advanced tab and click on the `Setup` drop-down and click on `LAN Setup`. Click `Add` and find the device corresponding to your device.
This drone will be identified by the last numbers of this IP. I.E, if the IP Address assigned is `192.168.8.45`, the drone will be labeled with a `45`. We will represent this identification number as ``
## Install ROS Melodic
Voxl2 runs Ubuntu 18.04 and ROS Melodic can be installed by following the instructions here: https://docs.modalai.com/ros-installation-voxl2/
Install deps:
```
sudo apt-get install python3-catkin-tools libeigen3-dev ros-melodic-tf2-ros python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential ros-melodic-tf2-geometry-msgs ros-melodic-tf ros-melodic-tf2-eigen ros-melodic-angles ros-melodic-tf-conversions ros-melodic-mavros-msgs ros-melodic-mavros rsync tmux ros-melodic-camera-info-manager
```
## Autonomy Stack Setup:
On your LOCAL MACHINE run the following:
```
mkdir -p ~/voxl2_home/autonomy_ws/src
cd ~/voxl2_home/autonomy_ws/src
git clone [email protected]:KumarRobotics/starling2_interface.git
git clone [email protected]:tyuezhan/kr_falcon250_interface.git
git clone [email protected]:tyuezhan/quadrotor_ukf.git -b starling2_integration
git clone [email protected]:KumarRobotics/kr_mav_control.git
cd ../..
git clone [email protected]:voxl-public/support/mavros_test.git
git clone [email protected]:KumarRobotics/voxl-mpa-to-ros.git
echo -e '#!/bin/bash\n\nif [ $# -ne 1 ]; then\n echo "Usage: $0 "\n exit 1\nfi\n\nlast_digits=$1\ndestination="192.168.8.$last_digits"\n\nrsync -avz --recursive --progress --exclude '\''*/build/*'\'' --exclude '\''*.git'\'' --exclude '\''*/devel/*'\'' --exclude '\''*.bag'\'' ~/voxl2_home/ root@$destination:/home/root/kumarRobotics/' > voxl_sync.sh
chmod +x ./voxl_sync.sh
voxl_sync.sh
```
The drone now has all of the source code needed to begin flying. SSH back onto the drone and run the following:
```
cd ~/kumarRobotics/autonomy_ws
catkin build
cd ../mavros_test
./build.sh
cd ../voxl-mpa-to-ros
./build.sh qrb5165
cp ~/kumarRobotics/autonomy_ws/src/starling2_interface/scripts/flight_start.sh ~/
cp ~/kumarRobotics/autonomy_ws/src/starling2_interface/scripts/recording_control.sh ~/
mv ~/.profile.d ~/old_profile_d
```
### Vicon Setup
```
['Starling2']
```
References:
[0] https://docs.modalai.com/voxl-2-wifi-setup/