CopterMove

A python script to move a Bebop 2 drone. Uses the PathPlanning library to avoid obstacles

System Overview

Installation

Windows commands should be run on the command prompt. Linux & MacOS commands should be run in the terminal.

Requires:

• Python 3.6
• pip
• python venv

Linux and MacOS environments

0. Download (or git clone) the repository. Extract the files to a location in your computer

1. Create a python virtual environment somewhere in your documents. Run the Instructions below OR follow this guide https://docs.python.org/3/tutorial/venv.html

   a) Run this command python3 -m venv venvName to create a python3 virtual environment.

   b) Run this command cd venvName to move into the virtual environement.

   c) Run this command source bin/activate to source the virtual environment's python installation. Your terminal should now show your venvName before each line.

2. Install the requried pip packages. Run the Instructions below OR follow this guide https://pyparrot.readthedocs.io/en/latest/installation.html

   a) Run this command which pip. Make sure the output points to a file that is in your venv.

   b) Run this command pip install untangle zeroconf pyparrot to install the required packages.

3. Install the path-planning (kholysa) package along with matplotlib

   a) Run this command pip install matplotlib path-planning-kholysa to install the required packages for path planning.

Windows

0. Download (or git clone) the repository. Extract the files to a location in your computer

1. Create a python virtual environment in the directory with the repository's files. Run the Instructions in the directory with the reposity's files below OR follow this guide https://docs.python.org/3/tutorial/venv.html

   a) Run this command python -m venv myenv to create a virtual environment.

   b) Run this command myenv\Scripts\activate to source the virtual environment's python installation. Your terminal should now show your myenv before each line.

2. Install the requried pip packages. Run the Instructions below OR follow this guide https://pyparrot.readthedocs.io/en/latest/installation.html

   a) Run this command pip install untangle zeroconf pyparrot to install the required packages.

3. Install the path-planning (kholysa) package along with matplotlib

   a) Run this command pip install matplotlib path-planning-kholysa to install the required packages for path planning.

Running

PyParrot Documentation: https://pyparrot.readthedocs.io/en/latest/index.html

Run the EntryPoint.py script with your python interpreter. Make sure you use a python interpreter with the installed libraries (source bin/activate for Linux, myenv\Scripts\activate for windows). Make sure you connect to a drone (simulated or real). Make sure you have enough physical space for real drones.

Paramters

All units are in SI Standard Units (meters, seconds...)

All parameters are in EntryPoint.py

• Start: Starting Position of the copter. Must be an integer number * step size away from the Goal. e.g. Start = (6.3, 8.1) Step Size = 0.5, Goal = (9.8,2.6) Goal CANNOT be something like (9.9,2.3)

• Goal: Goal of the copter. Must be an integer number * step size away from the Start

• Barriers: Location of obstacles in the universe

• Universe Size: Smallest discrete area in the universe

• Drone Step Size: Smallest discrete movement by the copter

• Risk Factor: Multiplier that affects the size of the barrier (1 will not affect the barrier sizes, 2 will double their length and width)

Physical Drones

Make sure your device has a wifi network adapter and can connet to the drone's wifi network

Virtual Drones

IP address should be specified when connecting to a virtual drone. Install Sphinx-Parrot from the commands below OR look at the Sphinx-Parrot online documentation for how to install and start a simulated drone

Sphinx Installation

Requires:

• Linux Ubuntu 18.04

1- Run these commands in a terminal a) echo "deb http://plf.parrot.com/sphinx/binary lsb_release -cs/" | sudo tee /etc/apt/sources.list.d/sphinx.list > /dev/null b) sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 508B1AE5 c) sudo apt-get update d) sudo apt-get install parrot-sphinx

2- If all goes well, you should be able to start sphinx with a bebop drone a) sudo systemctl start firmwared.service b) sphinx /opt/parrot-sphinx/usr/share/sphinx/drones/bebop2.drone

Troubleshooting:

• You may run into an issue where you can't start sphinx without the sudo command. FIND FIX LINK

• Depending on your ubuntu distibution, you may need to run sudo apt-get install libatomic1

• bebop = Bebop(ip_address="10.202.0.1") This simulation is considered a SITL (Software in the Loop). Parrot does not currently support HITL (Hardware in the Loop)

Git usage

Use git and the git commands to safely store the files in the cloud (on github). Follow these steps to not cause any conflicts when getting files from the cloud

1- git pull Run this command in the command line to get the latest files from the repository OR use the tools in PyCharm: VCS -> Git -> Pull Click on the Pull in the new window to get the latest file

2- Do your work and save. If you modify any files or add new graphs to the excel sheet. Make sure to SAVE AND CLOSE your files

3- git commit -m "Insert your message here" && git push Run these commands in the command line to update the repository on github OR use the tools in PyCharm: VCS -> Commit (Ctrl+k). Add your commit message. Commit and Push your changes to the repository by pressing on the arrow next to the commit button (Ctrl+Alt+k)