Operator #9

erwang01 · 2020-10-03T22:58:40Z

Layer 1 of the server.

Contains Drone Base Class as well.

…system/isaacs_server into operator

…be made

…m/isaacs_server into operator

port forwarding

…m/isaacs_server into operator

…_server into operator

shreyask23

Reviewed mavros_drone.py. Looks good!

DragonKyro

Reviewed roslibpy_test folder and simulate_drone_services folder

KDharmarajanDev

missionwaypointmsg.py, navsatfixex.py, waypoint.py can be deleted as they don't serve a purpose in the codebase. Other options that would serve similar functions are present inside the various drone implementations.

KDharmarajanDev · 2021-01-30T18:40:19Z

src/mavros_drone.py

+        for navsatfix in waypoints:
+            converted_waypoint_objects.append(self.convert_navsatfix_mavroswaypoint(navsatfix))
+
+        converted_waypoint_objects = 2*[{'frame': MavrosDrone.FRAME_REFERENCE.RELATIVE_ALT.value, 'command': MavrosDrone.MAV_CMD.TAKEOFF.value, 'is_current': False, 'autocontinue': True, 'param1': 0, 'param2': 0, 'param3': 0, 'x_lat': self.location['latitude'], 'y_long': self.location['longitude'], 'z_alt': 10}] + converted_waypoint_objects


Suggested change

converted_waypoint_objects = 2*[{'frame': MavrosDrone.FRAME_REFERENCE.RELATIVE_ALT.value, 'command': MavrosDrone.MAV_CMD.TAKEOFF.value, 'is_current': False, 'autocontinue': True, 'param1': 0, 'param2': 0, 'param3': 0, 'x_lat': self.location['latitude'], 'y_long': self.location['longitude'], 'z_alt': 10}] + converted_waypoint_objects

# For MavRos, the waypoints need to include a "takeoff waypoint" that signals the drone to takeoff before flying

takeoff_cmd = {'frame': MavrosDrone.FRAME_REFERENCE.RELATIVE_ALT.value, 'command': MavrosDrone.MAV_CMD.TAKEOFF.value}

takeoff_cmd['is_current'] = False

takeoff_cmd['autocontinue'] = True

takeoff_cmd['param1'] = 0

takeoff_cmd['param2'] = 0

takeoff_cmd['param3'] = 0

takeoff_cmd['x_lat'] = self.location['latitude']

takeoff_cmd['y_long'] = self.location['longitude']

takeoff_cmd['z_alt'] = 10

converted_waypoint_objects = 2*[takeoff_cmd] + converted_waypoint_objects

@KDharmarajanDev are these suggestions still valid?

KDharmarajanDev · 2021-01-30T18:44:14Z

src/mavros_drone.py

+        Takes in a NavSatFix message and returns a mavros_msgs/Waypoint message.
+        This is in the form of a dictionary.
+        '''
+        waypoint = {'frame': MavrosDrone.FRAME_REFERENCE.RELATIVE_ALT.value, 'command': MavrosDrone.MAV_CMD.NAVIGATE_TO_WAYPOINT.value, 'is_current': False, 'autocontinue': True, 'param1': 0, 'param2': 0, 'param3': 0}


Suggested change

waypoint = {'frame': MavrosDrone.FRAME_REFERENCE.RELATIVE_ALT.value, 'command': MavrosDrone.MAV_CMD.NAVIGATE_TO_WAYPOINT.value, 'is_current': False, 'autocontinue': True, 'param1': 0, 'param2': 0, 'param3': 0}

waypoint = {'frame': MavrosDrone.FRAME_REFERENCE.RELATIVE_ALT.value, 'command': MavrosDrone.MAV_CMD.NAVIGATE_TO_WAYPOINT.value}

waypoint['is_current'] = False

waypoint['autocontinue'] = True

waypoint['param1'] = 0

waypoint['param2'] = 0

waypoint['param3'] = 0

akhilvemuri

Finished review on djimatrice_drone.py

erwang01 · 2021-01-30T23:08:32Z

src/djimatrice_drone.py

+            for i in range(len(self.waypoints)):
+                waypoint_msg = waypoints[i]
+                self.mission_msg_list.append(waypoint_msg)
+                self.upload_waypoint_task(waypoint_msg)


Are we supposed to upload_waypoint_task all at once or one by one. I vaguely recall it is all at once. @DragonKyro @KDharmarajanDev ?

erwang01 · 2021-01-30T23:10:53Z

src/djimatrice_drone.py

+                waypoint_msg = waypoints[i]
+                self.mission_msg_list.append(waypoint_msg)
+                self.upload_waypoint_task(waypoint_msg)
+            return True


Return type should be : dictionary {
success: boolean
message: descriptive string
}

per drone.py

erwang01 · 2021-01-30T23:12:55Z

src/djimatrice_drone.py

+            return True
+        else:
+            print("Must be in ON_GROUND_STANDBY to upload mission")
+            return False


ditto dict return type

erwang01 · 2021-01-30T23:34:18Z

src/djimatrice_drone.py

+            result = service.call(request)
+            print('Service response: {}'.format(result))
+        except:
+            result = {"success":False, "message":"Drone landing failed"}


Drone landing?

erwang01 · 2021-01-30T23:34:58Z

src/djimatrice_drone.py

+            request = roslibpy.ServiceRequest({"speed": speed})
+
+            print('Calling mission_waypoint_setSpeed service...')
+            result = service.call(request)


is result from the dji service call also dictionary {
success: boolean
message: descriptive string
}

erwang01 · 2021-01-31T00:26:13Z

src/djimatrice_drone.py

+
+            print('Calling fly_home service...')
+            #TODO parse service.call(request)
+            result = service.call(request)


src/djimatrice_drone.py

src/drone.py

erwang01 · 2021-01-31T00:28:14Z

src/drone.py

+        from mavros_drone import MavrosDrone
+        drones = {
+            "DjiMatrice": DjiMatriceDrone, 
+            "MavrosDrone": MavrosDrone


Suggested change

"MavrosDrone": MavrosDrone

"Mavros": MavrosDrone

erwang01 · 2021-01-31T00:29:53Z

src/mavros_drone.py

+                {"command": MavrosDrone.MAV_CMD.SET_SPEED.value,
+                 "param1": 0, "param2": speed, "param3": -1, "param4": 0})
+            print('Calling mission_waypoint_setSpeed service...')
+            result = service.call(request)


Does the result of this service request have the form {success, message}?
Ditto at all the other services...

leonardodtang

srv/ needs a little bit of attention on a couple of missing response id's by whoever wrote it, and drone.py just needs someone else to commit suggestions

src/drone.py

src/mavros_drone.py

src/djimatrice_drone.py

src/drone.py

srv/fake_drone_control.srv

@@ -0,0 +1,4 @@
+uint32 task


srv/control_drone.srv

srv/upload_mission.srv

Co-authored-by: leonardodtang <35482231+leonardodtang@users.noreply.github.com>

erwang01

Generally LGTM. More bug fixes / concrete implementation can be done later.

DragonKyro and others added 2 commits October 3, 2020 13:55

starting operator branch

e7c9526

Begin implementation of drone and operator python objects.

37abe30

This was linked to issues Oct 3, 2020

Service Calls Endpoints #3

Closed

Implement Individual Service Calls #4

Closed

Service Calls handling structure / framework #5

Closed

Drone Interface Base Class #6

Closed

erwang01 assigned shreyask23 Oct 3, 2020

varunsaran and others added 4 commits October 5, 2020 17:17

added service type for add_drone

abf861f

Merge branch 'service-types' of https://github.com/immersive-command-…

8d75cf4

…system/isaacs_server into operator

add drone service

66125e5

10/5 TODO and add drone test

d177e97

varunsaran marked this pull request as ready for review October 6, 2020 02:59

varunsaran closed this Oct 6, 2020

varunsaran reopened this Oct 6, 2020

varunsaran and others added 16 commits October 6, 2020 21:31

Update README.md

5667bcf

Update README.md

514abba

Update README.md

7dd242d

Update README.md

24e04a9

Update README.md

192add1

Update README.md

aeec699

Update README.md

19595a0

fixed message to error in add drone

8a14c28

added skeleton for uploadmission and startmission, clarifications to …

9c87220

…be made

Merge branch 'operator' of https://github.com/immersive-command-syste…

0d128c3

…m/isaacs_server into operator

Update README.md

9937627

port forwarding

bug fixes

005401f

Merge branch 'operator' of https://github.com/immersive-command-syste…

b629296

…m/isaacs_server into operator

update gitignore

9409f33

Add Server Architecture Diagram

d83a2c9

land_drone in progress

226cd93

KDharmarajanDev and others added 4 commits January 30, 2021 13:02

Removed Unnecessary Comment

3b8bd7b

Merge branch 'operator' of https://github.com/immersive-command-syste…

1588543

…m/isaacs_server into operator

Shutdown not implemented errors

665f664

Merge branch 'operator' of github.com:immersive-command-system/isaacs…

72cd8da

…_server into operator

shreyask23 reviewed Jan 30, 2021

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DragonKyro reviewed Jan 30, 2021

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KDharmarajanDev reviewed Jan 30, 2021

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akhilvemuri reviewed Jan 30, 2021

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Add drone id

fef2c20

erwang01 commented Jan 31, 2021

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erwang01 added 3 commits January 30, 2021 16:34

delete unecessary files per code review

b835ccf

More prep for PR, resolving code reviews

e9ae394

remove fake services

df02956

leonardodtang suggested changes Jan 31, 2021

View reviewed changes

leonardodtang and others added 10 commits January 30, 2021 21:10

Update src/drone.py

233da5e

Update src/mavros_drone.py

6f1cf1c

Update src/mavros_drone.py

10ec480

Update src/mavros_drone.py

f40d961

Update src/mavros_drone.py

af989bc

Update src/drone.py

773ec1e

Apply suggestions from code review

4908bd7

Co-authored-by: leonardodtang <35482231+leonardodtang@users.noreply.github.com>

changed from sensor_id to id

8b13b9b

update_mission

9627d03

remove basic roslib test

9ddaedf

erwang01 commented Jan 31, 2021

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leonardodtang approved these changes Feb 1, 2021

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erwang01 mentioned this pull request Feb 1, 2021

Drone.py return types. #24

Closed

erwang01 merged commit 1b802e5 into master Feb 1, 2021

This was referenced Feb 1, 2021

ID fields should just be called id no need for drone_id or sensor_id designators #15

Closed

Implement Matrice Drone Interface #8

Closed

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Operator #9

Operator #9

erwang01 commented Oct 3, 2020

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KDharmarajanDev Jan 30, 2021

erwang01 Jan 31, 2021

KDharmarajanDev Jan 30, 2021

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erwang01 Jan 30, 2021

erwang01 Jan 30, 2021

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erwang01 left a comment

-        converted_waypoint_objects = 2*[{'frame': MavrosDrone.FRAME_REFERENCE.RELATIVE_ALT.value, 'command': MavrosDrone.MAV_CMD.TAKEOFF.value, 'is_current': False, 'autocontinue': True, 'param1': 0, 'param2': 0, 'param3': 0, 'x_lat': self.location['latitude'], 'y_long': self.location['longitude'], 'z_alt': 10}] + converted_waypoint_objects
+        # For MavRos, the waypoints need to include a "takeoff waypoint" that signals the drone to takeoff before flying
+        takeoff_cmd = {'frame': MavrosDrone.FRAME_REFERENCE.RELATIVE_ALT.value, 'command': MavrosDrone.MAV_CMD.TAKEOFF.value}
+        takeoff_cmd['is_current'] = False
+        takeoff_cmd['autocontinue'] = True
+        takeoff_cmd['param1'] = 0
+        takeoff_cmd['param2'] = 0
+        takeoff_cmd['param3'] = 0
+        takeoff_cmd['x_lat'] = self.location['latitude']
+        takeoff_cmd['y_long'] = self.location['longitude']
+        takeoff_cmd['z_alt'] = 10
+        converted_waypoint_objects = 2*[takeoff_cmd] + converted_waypoint_objects

-        waypoint = {'frame': MavrosDrone.FRAME_REFERENCE.RELATIVE_ALT.value, 'command': MavrosDrone.MAV_CMD.NAVIGATE_TO_WAYPOINT.value, 'is_current': False, 'autocontinue': True, 'param1': 0, 'param2': 0, 'param3': 0}
+        waypoint = {'frame': MavrosDrone.FRAME_REFERENCE.RELATIVE_ALT.value, 'command': MavrosDrone.MAV_CMD.NAVIGATE_TO_WAYPOINT.value}
+        waypoint['is_current'] = False
+        waypoint['autocontinue'] = True
+        waypoint['param1'] = 0
+        waypoint['param2'] = 0
+        waypoint['param3'] = 0

Operator #9

Operator #9

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erwang01 commented Oct 3, 2020

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