ROS packages in Project Venom

Contents

package name	purpose
venom_offb	Nodes that are related to offboard mode control, including navigation decision making.
venom_perception	Sensor nodes that is integrated with ROS. Class Perceiver is designed to wrap different sensors. Note that zed-ros-wrapper should be placed here.

Prerequisite

1. PX4 toolchain: we will not build mavros from scratch. Choose ubuntu_ros_gazebo.sh to install. After installation, move ~/src/Firmware to ~/Documents.

$ mv ~/src/Firmware ~/Documents
$ rmdir ~/src

2. geographiclib:

$ wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
$ chmod +x install_geographiclib_datasets.sh
$ sudo ./install_geographiclib_datasets.sh

3. mavros: we will use catkin_make instead of rosbuild. Therefore, remove the directory created by ubuntu_ros_gazebo.sh and install mavros via apt-get.

$ rm -rf ~/catkin_make
$ sudo apt-get install ros-kinetic-mavros ros-kinetic-extras

4. CUDA 9.0: remember to setup library path.

$ echo 'export PATH=/usr/local/cuda-9.0/bin${PATH:+:${PATH}}' >> ~/.bashrc
$ echo 'export LD_LIBRARY_PATH=/usr/local/cuda-9.0/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}' >> ~/.bashrc

5. ZED SDK 2.2.1: please choose CUDA 9 -> ZED SDK for Linux to download.

$ mkdir -p ~/catkin_ws/src
$ unzip zed-ros-wrapper-2.2.x.zip -d ~/catkin_make/src/zed-ros-wrapper-2.2
$ cd ~/catkin_ws
$ catkin_make

6. zed-ros-wrapper: please choose v2.2.x download. After download, unzip the file and catkin_make it.

Installation

1. Download this repository

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ git clone [email protected]:GitWyd/ProjectVenomROS.git

2. Compile

$ cd ~/catkin_ws
$ catkin_make

Tutorial

Software in the loop (SITL) Simulation

1. Let's assume that you have moved Firmware to ~/Documents. To make life easier, let's make an shortcut activating the gazebo simulator.

$ echo "alias sitl_gazebo='cd ~/Documents/Firmware; make posix_sitl_default gazebo'" >> ~/.bashrc
$ source ~/.bashrc
$ sitl_gazebo   # This activates the gazebo simulator

2. Connect the ZED camera to your USB3.0 port. Then activates utility nodes.

$ roslaunch zed_wrapper zed.launch
$ roslaunch venom_offb sitl.launch

3. We are ready to take off!! Run this command and you should see the drone hover at height 3.0 meter. Press 'q' to land.

$ rosrun venom_offb navigation_node