Crazyflie Project Environment

Author: Wooshik Kim & Austin Wang, TA for ACSI

Last edited: 10/26/2018

Note to ACSI 2018 Students!!

I already set up the lab computer for instructor user! So you can try "Test the Environment" and "Connecting with Optitrack" right away. Skip "Setup Instructions". However, that computer is there to serve as a reference. It is not answer to everything. It still lacks many things. It just provides the bare minimum of this project. This guide is just here to tell you what are needed and to provide big picture of things. In the end YOU have to integrate the systems on your own.

Synopsis

ROS environment capable of interfacing with Crazyflie 2.0 and OptiTrack motion capture system

Requirements

Ubuntu 16.04

Ubuntu setup instructions: https://tutorials.ubuntu.com/tutorial/tutorial-install-ubuntu-desktop-1604#4

Setup Instructions

Setup environment in Ubuntu 14.04 or 16.04

1. Install Ubuntu 16.04

   https://tutorials.ubuntu.com/tutorial/tutorial-install-ubuntu-desktop-1604#0

2. Clone Peter's repo

   Peter Jan was previously a TA for the ACSI course. The repository contains Crazyflie firmware, Optitrack python code, along with other things

   git clone https://github.com/Peter-Jan/crazyflie_ws.git
   

   From this point on we are going through install.sh You can simply do cd crazyflie_ws chmod +x install.sh ./install.sh However since some are out of date I will provide a step by step guide below

3. Install ROS, update rosdep, source bash to use from terminal, and make crazyflie_ws

Kinetic
```
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
sudo rosdep init
rosdep update
source /opt/ros/kinetic/setup.bash
sudo apt-get install python-rosinstall
cd crazyflie_ws
rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
catkin_make
source ~/crazyflie_ws/devel/setup.bash
sudo apt-get install dkms
```

Reference: http://wiki.ros.org/kinetic/Installation/Ubuntu 

4. Driver for Linux xpad controllercd crazyflie_ws

   cd ..
   sudo git clone https://github.com/paroj/xpad.git /usr/src/xpad-0.4
   sudo dkms install -m xpad -v 0.4
   cd /usr/src/xpad-0.4
   sudo git fetch
   sudo git checkout origin/master
   sudo dkms remove -m xpad -v 0.4 --all
   sudo dkms install -m xpad -v 0.4
   

   Reference: https://github.com/paroj/xpad

   Following sets udev permissions on Linux to use for USB radio without being root

   cd ~
   sudo groupadd plugdev
   

   Create a file named /etc/udev/rules.d/99-crazyradio.rules and add the following to connect Crazyflie 2.0 via usb:

   SUBSYSTEM=="usb", ATTRS{idVendor}=="1915", ATTRS{idProduct}=="7777", MODE="0664", GROUP="plugdev"
   SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE="0664", GROUP="plugdev"
   

   To do so, you will need write permission for this folder. The best way to go about it is from your terminal ''' cd / cd etc/udev/rules.d/ sudo subl 99-crazyradio.rules ''' Then write two lines of code and save it. Reference: https://github.com/bitcraze/crazyflie-lib-python#setting-udev-permissions

5. Optitrack library from optirx, python based ROS examples are here

Kinetic
```
cd ~/crazyflie_ws
sudo cp optirx.py /usr/lib/python3.5/  
sudo cp optirx.py /usr/local/lib/python2.7/dist-packages/
sudo cp optirx.py /usr/local/lib/python2.7/site-packages/
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
echo "source ~/crazyflie_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
```

6. Connect crazyflie Ubuntu computer with Optitrack Windows computer.

   We will connect two computer via ethernet cable and switch. The Optitrack computer is connected to switch which is then connected to 12 Optitrack cameras (11 for us because we only have 12 port switch). The switch is connected to another switch (because we only have 12 ports). We will connect Ubuntu machine and Windows machine with that switch. To do so, we need to change address of the two computers.

   On Ubuntu
   Right click Connections icon on right top of the screen.
   Edit Connections.
   Add New Connection
   Set IPv4 settings to
   Address: 10.0.0.1 Gateway: 255.255.255.0 DNS Servers 10.0.0.10

   On Windows
   Go to Network Connections
   Go to Properties
   Go to Properties of Internet Protocol Version 4
   Address: 10.0.0.2 Gateway: 255.255.255.0 DNS Servers 10.0.0.10

   Check http://www.techiesparks.com/2013/05/14/how-to-configure-a-networking-switch/463 for more detail

Test the environment

"Hello World!" Let's fly the drone using Xbox controller. This would be a good way to check if everything is working fine. Connect Crazyradio PA to your computer and open terminal.

cd crazyflie_ws
roscore

The command "roscore" starts ros system. Now open a new terminal and run

rosrun crazyflie_tools scan

This will print the uri address for the crazyflie onto console (the ID of crazyflie you are flying)

The ID will be something like radio://0/20/2M

Copy this address into the launch file for teleoperation located at /path_to_your_workspace/src/crazyflie_ros/crazyflie_demo/launch/teleop_xbox360.launch

Now run

roslaunch crazyflie_demo teleop_xbox360.launch

and you should be able to fly your drone!

Reference: Section 3 of droneWriteUp.pdf

Connecting with Optitrack

1. Turn on Motive on Optitrack computer and open one of the recent calibration file in ACSI folder. If there isn't any calibration file check out https://www.youtube.com/watch?v=Chs6PuK4QRM&t=649s

2. Set your Crazyflie as a rigid body. The pose data of that rigid body will be sent to your computer.

3. To connect your computer to Optitrack computer both should be connected via the switch port on the top of the shelf.

4. Change connection (right top) to "acsi_ros", I already changed the the IP address. On other computers, connect and set the IP address of your main Ubuntu computer to 10.0.0.1

The Optitrack computer IP address is set to 10.0.0.2. You can check if the two are connected by pinging each other's address.

5. Configure Motive to send rigid body data to your computer:

• Data Streaming -> check Broadcast Frame Data
• Advanced Network Options -> Multicast Interface to 10.0.0.1

6. Now start ros node for reading Optitrack data with roslaunch optitrack optitrack_pipeline.launch

After you terminate the process, the data will be saved in home/.ros/optitrack_position and home/.ros/optitrack_orientation

Now you are all set! Have fun with your project!