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Merge pull request #28 from grvcTeam/ual2.0
UAL 2.0
2 parents 96fbee5 + b2884af commit 6470c4a

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‎README.md‎

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# grvc-ual
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[![Releases](https://img.shields.io/github/release/grvcTeam/grvc-ual.svg)](https://github.com/grvcTeam/grvc-ual/releases)
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A repository for the GRVC UAV abstraction layer.
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Master branch should always be last stable version of this software. As packages in this repo are heavily dependent on packages in [grvc-utils](https://github.com/grvcTeam/grvc-utils) and our feelings about git submodules are not clear, make sure you have both repositories updated.
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## Installation and use
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Download the latest stable version from [here](https://github.com/grvcTeam/grvc-ual/releases).
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## Dependencies
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* [grvc-utils](https://github.com/grvcTeam/grvc-utils)
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* [PX4 Firmware](https://github.com/PX4/Firmware) at tag [v1.6.3](https://github.com/PX4/Firmware/tree/v1.6.3)
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* [PX4 Firmware](https://github.com/PX4/Firmware) at tag [v1.7.3](https://github.com/PX4/Firmware/tree/v1.7.3)

‎px4_bringup/config/simulation_params.yaml‎

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#--------------------------------------------------------------------------------------------#
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# Gazebo origin (lat-lon-alt) can be defined with 'map_frame' or with 'sim_origin' params
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# Gazebo origin (lat-lon-alt) can be defined with 'sim_origin' param
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#--------------------------------------------------------------------------------------------#
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# map frame (if we need a map to world transform)
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# map_frame:
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# frame_id: "map"
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# parent_frame: "world"
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# units: "GPS"
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# translation: [37.558542, -5.931074, 7.89]
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# rotation: [0.0, 0.0, 0.0] # RPY
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# sim_origin (if we only want to define Gazebo origin)
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sim_origin: [37.558542, -5.931074, 7.89]
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#--------------------------------------------------------------------------------------------#

‎px4_bringup/launch/test_simulate.launch‎

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<!-- Load frame transforms for map and UAVs -->
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<rosparam file="$(find px4_bringup)/config/simulation_params.yaml" command="load" />
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<!-- Launch static_tf_publisher for map to world transform (if defined) -->
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<node pkg="static_tf_publisher" type="static_tf_publisher_node" name="static_tf_publisher"/>
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<!-- Launch Gazebo simulation TODO: world location? -->
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<node pkg="px4_bringup" type="launch_gzworld.py" name="gazebo_world" output="screen"
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args="-physics=ode -world=$(find px4_bringup)/config/empty_light.world"/>

‎px4_bringup/package.xml‎

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<?xml version="1.0"?>
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<package>
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<name>px4_bringup</name>
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<version>0.0.1</version>
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<version>2.0.0</version>
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<description>This package brings up the mavros interface of a px4 autopilot,
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that can be real or simulted in gazebo with software-in-the-loop (sitl).</description>
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‎px4_bringup/scripts/launch_gzworld.py‎

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# Set environment variables as in px4/Firmware/Tools/setup_gazebo.bash
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gz_env = os.environ.copy()
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current_gz_plugin_path = gz_env.get('GAZEBO_PLUGIN_PATH', '')
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gz_env['GAZEBO_PLUGIN_PATH'] = px4_dir + '/build_posix_sitl_default/build_gazebo' + \
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gz_env['GAZEBO_PLUGIN_PATH'] = px4_dir + '/build/posix_sitl_default/build_gazebo' + \
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':' + current_gz_plugin_path
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current_gz_model_path = gz_env.get('GAZEBO_MODEL_PATH', '')
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description_parent_path = os.path.abspath(os.path.join(\
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gz_env['GAZEBO_MODEL_PATH'] += ':' + args.add_model_path
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# Get map origin lat-lon-alt from rosparam
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if rospy.has_param('/map_frame'):
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map_frame_dict = rospy.get_param('/map_frame')
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if map_frame_dict['units']=='GPS':
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latlonalt = map_frame_dict['translation']
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else:
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#TODO UTM to LAT-LON
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pass
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elif rospy.has_param('/sim_origin'):
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if rospy.has_param('/sim_origin'):
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latlonalt = rospy.get_param('/sim_origin')
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else:
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latlonalt = [0.0, 0.0, 0.0]
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env=gz_env, shell=True, preexec_fn=os.setsid)
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# Start gazebo client
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time.sleep(0.2)
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client_args = "rosrun gazebo_ros gzclient"
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client_out = open(temp_dir + '/gzclient.out', 'w')
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client_err = open(temp_dir + '/gzclient.err', 'w')

‎px4_bringup/scripts/run_px4sitl.py‎

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# Spawn px4
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px4_src = rospack.get_path("px4")
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px4_bin = px4_src + "/build_posix_sitl_default/src/firmware/posix/px4"
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px4_bin = px4_src + "/build/posix_sitl_default/px4"
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px4_args = px4_bin + " " + px4_src + " " + modified_cmds
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px4_out = open(temp_dir+"/px4.out", 'w')
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px4_err = open(temp_dir+"/px4.err", 'w')

‎px4_bringup/scripts/spawn_gzmodel.py‎

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xacro_args = "xacro --inorder -o " + temp_urdf + " " + \
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xacro_description + \
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" enable_mavlink_interface:=true" + \
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" enable_gps_plugin:=true" + \
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" enable_ground_truth:=false" + \
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" enable_logging:=false" + \
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" enable_camera:=false" + \
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if args.model == 'typhoon_h480':
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for plugintag in model.findall('plugin'):
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if plugintag.get('name') == 'gimbal_controller':
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imutag = plugintag.find('imu')
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imutag = plugintag.find('gimbal_imu')
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imutag.text = 'typhoon_h480_' + str(args.id) + '::camera_imu'
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for linktag in model.findall('link'):
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if linktag.get('name') == 'cgo3_camera_link':
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robot_yaw = 0.0
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# Sleep for waiting the world to load
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rospy.sleep(0.2)
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rospy.sleep(0.4)
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# Minimum z to avoid collision with ground
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z_min = 0.3

‎robots_description/models/aeroarms/model.xacro‎

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<xacro:arg name='mavlink_udp_port' default='14560' />
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<xacro:arg name='visual_material' default='DarkGrey' />
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<xacro:arg name='enable_mavlink_interface' default='true' />
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<xacro:arg name='enable_gps_plugin' default='true' />
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<xacro:arg name='gps_noise' default='true' />
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<xacro:arg name='enable_ground_truth' default='false' />
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<xacro:arg name='enable_logging' default='false' />
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<!-- Instantiate aeroarms "mechanics" -->
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<xacro:include filename="$(find robots_description)/models/aeroarms/geometry.xacro" />
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<xacro:if value="$(arg enable_gps_plugin)">
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<!-- Instantiate gps plugin. -->
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<xacro:gps_plugin_macro
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namespace="${namespace}"
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gps_noise="$(arg gps_noise)"
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>
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</xacro:gps_plugin_macro>
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</xacro:if>
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<xacro:if value="$(arg enable_mavlink_interface)">
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<!-- Instantiate mavlink telemetry interface. -->
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<xacro:mavlink_interface_macro

‎robots_description/models/aeroarms_pendulum/model.xacro‎

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<xacro:arg name='mavlink_udp_port' default='14560' />
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<xacro:arg name='visual_material' default='DarkGrey' />
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<xacro:arg name='enable_mavlink_interface' default='true' />
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<xacro:arg name='enable_gps_plugin' default='true' />
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<xacro:arg name='gps_noise' default='true' />
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<xacro:arg name='enable_ground_truth' default='false' />
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<xacro:arg name='enable_logging' default='false' />
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<!-- Instantiate aeroarms "mechanics" -->
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<xacro:include filename="$(find robots_description)/models/aeroarms_pendulum/geometry.xacro" />
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<xacro:if value="$(arg enable_gps_plugin)">
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<!-- Instantiate gps plugin. -->
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<xacro:gps_plugin_macro
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namespace="${namespace}"
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gps_noise="$(arg gps_noise)"
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>
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</xacro:gps_plugin_macro>
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</xacro:if>
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<xacro:if value="$(arg enable_mavlink_interface)">
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<!-- Instantiate mavlink telemetry interface. -->
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<xacro:mavlink_interface_macro

‎robots_description/models/iris/model.xacro‎

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<xacro:arg name='mavlink_udp_port' default='14560' />
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<xacro:arg name='visual_material' default='DarkGrey' />
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<xacro:arg name='enable_mavlink_interface' default='true' />
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<xacro:arg name='enable_gps_plugin' default='true' />
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<xacro:arg name='gps_noise' default='true' />
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<xacro:arg name='enable_ground_truth' default='false' />
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<xacro:arg name='enable_logging' default='false' />
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<!-- Instantiate iris "mechanics" -->
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<xacro:include filename="$(find robots_description)/models/iris/geometry.xacro" />
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<xacro:if value="$(arg enable_gps_plugin)">
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<!-- Instantiate gps plugin. -->
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<xacro:gps_plugin_macro
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namespace="${namespace}"
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gps_noise="$(arg gps_noise)"
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>
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</xacro:gps_plugin_macro>
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</xacro:if>
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<xacro:if value="$(arg enable_mavlink_interface)">
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<!-- Instantiate mavlink telemetry interface. -->
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<xacro:mavlink_interface_macro

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