dron_control_node

this is a GUI for youe to control the px4 system drone on ROS

Node ROS Topics

Onboard dron_control_node

Type	Topic	Data_type
Publisher	/drone/nagvation/pos	PoseStamped
Publisher	/auto_mode/status	BoolStamped
Publisher	/mavros/setpoint_position/local	PoseStamped
Publisher	/drone/current/control_status	Custom Message GetDroneState
Publisher	/servo/angle	AllServoAngle
Subscriber	/drone/input_posistion/pose	PoseStamped
Subscriber	/mavros/local_position/pose	PoseStamped
Subscriber	/mavros/state	State
Subscriber	/drone/set/control_status	Custom Message SetDroneState

Offboard offboard/dron_control_node

Type	Topic	Data_type
Subscriber	/drone/current/control_status	Custom Message GetDroneState
Publisher	/drone/set/control_status	Custom Message SetDroneState

Input of the Node

/mavros/local_position/pose, PoseStamped get the currnte postion of the drone
/drone/input_postion/pose, PoseStamped get the pos from the vision nagvation system
/detection_result/image, Image (porposted) get the detection result and show in the GUI

Output of the Node

/mavros/setpoint_position/local, PoseStamped (>30Hz) pos pass to the mavros to excite
/auto_mode/status, BoolStamped let the navgation program know whether start the program or stop it
/drone/current/control_mode, String (>30Hz will chagne to 20hz later) send the current control mode out ("auto" or "manual")
/drone/nagvation/pos, PoseStamped (>30Hz) pos pass to the vision nagvation to excite

For ubuntu 18.04

Prerequisites

• Python 3
• ROS 1
• mavros
• gazebo(optional)

install

sudo apt-get install -y python-tk python3-tk python3-tk-dbg python3-pil python3-pil.imagetk
pip3 install netifaces Pillow imutils
sudo apt-get install -y ros-$ROS_DISTRO-jsk-pcl-ros ros-$ROS_DISTRO-jsk-rviz-plugins ros-$ROS_DISTRO-ros-numpy
$cd <catkin_ws>/src #cd to your catkin workspace src here
git clone https://github.com/Drone-FYP2021-PolyU-EIE/dron_control_node.git

Setup Workspace(catkin make)

$cd to your catkin ws frist
source devel/setup.bash
wstool init
wstool set -y src/geometry2 --git https://github.com/ros/geometry2 -v 0.6.5
wstool up
rosdep install --from-paths src --ignore-src -y -r
# for x86 CPU only
catkin_make --cmake-args \
            -DCMAKE_BUILD_TYPE=Release \
            -DPYTHON_EXECUTABLE=/usr/bin/python3 \
            -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m \
            -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so
# jetson or ARM devices Only 
catkin_make --cmake-args \
            -DCMAKE_BUILD_TYPE=Release \
            -DPYTHON_EXECUTABLE=/usr/bin/python3 \
            -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m \
            -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so

after you build the package in the catkin ws, now the python and python3 system path may have some problem
(Told you already this is riskly)
the program will try to auto fix this issuess
but if it does not work do the following

opt1: do everytime after source deve

#python3
python3 
>>> import sys
>>> sys.path

READ this very carefully for Python3 enusre the tf package's sys path is on top of the '/opt/ros/melodic/lib/python2.7/dist-packages' sys.path.remove(python2_path)
sys.path.append(python2_path)

other opt read

Setup ROS for Offboard Control

On ROS Master

add the following into the .bashrc

ip=$(hostname -I | cut -f1 -d' ')
echo 'ROS Master IP:'$ip
export ROS_MASTER_URI='http://'$ip':11311'
export ROS_HOSTNAME=$ip
export ROS_IP=$ip

On ROS Slave

add the following into the .bashrc
replace 192.168.1.2 with your rosmaster ip

master_ip=$('192.168.1.2')
ip=$(hostname -I | cut -f1 -d' ')
echo 'ROS Master IP:'$master_ip
echo 'ROS Local IP:'$ip
export ROS_MASTER_URI='http://'$master_ip':11311'
export ROS_HOSTNAME=$ip
export ROS_IP=$master_ip

Run the ROS node

Onboard(on the drone)

roslaunch drone_control_node exampleOnboardHasGripper.launch

Offboard(Ground Station)

roslaunch drone_control_node exampleOffboardHasGripper.launch

Procedure of using control node gui

1. Click arm button to arm the drone
2. Enter the desired position and angle
3. Click Offboard button to change the mode

Update Blog

2022-3-7-01:21 Upload the new version of control_node.py aim to let the navgation program know whether start the program or stop it
2022-3-11-02:15 Update control_node.py, change the message type of /auto_mode/status to BoolStamped as the navigation node message filter time synchronizer require header. The BoolStamped message type require jsk_recognition_msgs which can install by

sudo apt-get install ros-noetic-jsk-pcl-ros ros-noetic-jsk-rviz-plugins ros-noetic-ros-numpy
2022-3-11-04:xx upadate GUI switch to auto mode also set position once
2022-3-13: fix issues in take local rotation related
2022-3-15: added colorfull button

Screen

Demo Video

https://youtu.be/6EUKs0d83WY