Example for AUAV 2022 with obstacle avoidance.

Related tags

Deep Learning auav_2022_sample
Overview

AUAV 2022 Sample

This is a sample PX4 based quadrotor path planning framework based on Ubuntu 20.04 and ROS noetic for the IEEE Autonomous UAS 2022 competition.

You will need to install xterm and the standard PX4/gazebo requirements.

sudo apt install xterm

Build the catkin workspace.

pip3 install pymavlink --user
mkidr ~/catkin
cd ~/catkin
mkdir src
cd src
git clone https://github.com/jgoppert/auav_2022_sample.git
git submodule update --init --recursive
catkin build

Run the simulation for each trial.

Note: To fly PX4 you will need to have QGroundControl running and manually arm it and put it in offboard mode. For the competition we do not want your scirpts to do this automatically. For testing and in simulation, you can have a script that manually arms the drone and puts it in offboard mode.

We are following this safety procedure so that the pilot will have the only authority to arm the drone and switch the mode to offboard from the RC transmitter.

cd ~/catkin
. ./devel/setup.bash
roslaunch auav_2022_sample sim.launch world:=worlds/trial_1.world 
roslaunch auav_2022_sample sim.launch world:=worlds/trial_2.world 
roslaunch auav_2022_sample sim.launch world:=worlds/trial_3.world 
roslaunch auav_2022_sample sim.launch world:=worlds/trial_4.world

Please adapt your code to work with this framework, we expect to launch each drone with the command:

roslaunch auav_2022_sample live.launch

Path Planning

Two examples of path planning libraries are included that use the depth camera information:

  • PX4 avoidance: Uses VFH3D+ approach, simple approach, not very robust
  • path planning: Uses octomap and OMPL library for (RRT), could be improved to use Quadrotor dynamics
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Comments
  • mavlink_sitl_gazebo error

    mavlink_sitl_gazebo error

    Hi,

    I have a problem building your packages due to error with mavlink_sitl_gazebo. The output, when executing catkin build is as below.

    Errors     << mavlink_sitl_gazebo:make /home/hf/src/auav_2022_ws/logs/mavlink_sitl_gazebo/build.make.003.log
/home/hf/src/auav_2022_ws/src/auav_2022_sample/catkin_purt/mavlink_sitl_gazebo/src/mavlink_interface.cpp: In member function ‘void MavlinkInterface::SendSensorMessages(uint64_t, HILData&)’:
/home/hf/src/auav_2022_ws/src/auav_2022_sample/catkin_purt/mavlink_sitl_gazebo/src/mavlink_interface.cpp:208:14: error: ‘mavlink_hil_sensor_t’ {aka ‘struct __mavlink_hil_sensor_t’} has no member named ‘id’
  208 |   sensor_msg.id = data->id;
      |              ^~
make[2]: *** [CMakeFiles/gazebo_mavlink_interface.dir/build.make:76: CMakeFiles/gazebo_mavlink_interface.dir/src/mavlink_interface.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
/home/hf/src/auav_2022_ws/src/auav_2022_sample/catkin_purt/mavlink_sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp: In member function ‘void gazebo::GimbalControllerPlugin::SendGimbalDeviceInformation()’:
/home/hf/src/auav_2022_ws/src/auav_2022_sample/catkin_purt/mavlink_sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp:657:5: error: invalid conversion from ‘const char*’ to ‘const uint8_t*’ {aka ‘const unsigned char*’} [-fpermissive]
  657 |     "PX4",
      |     ^~~~~
      |     |
      |     const char*
/home/hf/src/auav_2022_ws/src/auav_2022_sample/catkin_purt/mavlink_sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp:658:5: error: invalid conversion from ‘const char*’ to ‘const uint8_t*’ {aka ‘const unsigned char*’} [-fpermissive]
  658 |     "Gazebo SITL",
      |     ^~~~~~~~~~~~~
      |     |
      |     const char*
/home/hf/src/auav_2022_ws/src/auav_2022_sample/catkin_purt/mavlink_sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp:659:5: error: invalid conversion from ‘const char*’ to ‘uint32_t’ {aka ‘unsigned int’} [-fpermissive]
  659 |     "", // custom_name
      |     ^~
      |     |
      |     const char*
/home/hf/src/auav_2022_ws/src/auav_2022_sample/catkin_purt/mavlink_sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp:670:11: error: too many arguments to function ‘uint16_t mavlink_msg_gimbal_device_information_pack_chan(uint8_t, uint8_t, uint8_t, mavlink_message_t*, uint32_t, const uint8_t*, const uint8_t*, uint32_t, uint16_t, float, float, float, float, float, float)’
  670 |     yawMax);
      |           ^
In file included from /usr/local/include/mavlink/v2.0/common/common.h:2332,
                 from /usr/local/include/mavlink/v2.0/common/mavlink.h:32,
                 from /home/hf/src/auav_2022_ws/src/auav_2022_sample/catkin_purt/mavlink_sitl_gazebo/include/gazebo_gimbal_controller_plugin.hh:39,
                 from /home/hf/src/auav_2022_ws/src/auav_2022_sample/catkin_purt/mavlink_sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp:21:
/usr/local/include/mavlink/v2.0/common/mavlink_msg_gimbal_device_information.h:144:24: note: declared here
  144 | static inline uint16_t mavlink_msg_gimbal_device_information_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
      |                        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hf/src/auav_2022_ws/src/auav_2022_sample/catkin_purt/mavlink_sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp: In member function ‘void gazebo::GimbalControllerPlugin::SendGimbalDeviceAttitudeStatus()’:
/home/hf/src/auav_2022_ws/src/auav_2022_sample/catkin_purt/mavlink_sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp:705:5: error: invalid conversion from ‘uint32_t’ {aka ‘unsigned int’} to ‘const float*’ [-fpermissive]
  705 |     timeMs,
      |     ^~~~~~
      |     |
      |     uint32_t {aka unsigned int}
/home/hf/src/auav_2022_ws/src/auav_2022_sample/catkin_purt/mavlink_sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp:707:5: error: cannot convert ‘const float*’ to ‘float’
  707 |     qArr,
      |     ^~~~
      |     |
      |     const float*
In file included from /usr/local/include/mavlink/v2.0/common/common.h:2334,
                 from /usr/local/include/mavlink/v2.0/common/mavlink.h:32,
                 from /home/hf/src/auav_2022_ws/src/auav_2022_sample/catkin_purt/mavlink_sitl_gazebo/include/gazebo_gimbal_controller_plugin.hh:39,
                 from /home/hf/src/auav_2022_ws/src/auav_2022_sample/catkin_purt/mavlink_sitl_gazebo/src/gazebo_gimbal_controller_plugin.cpp:21:
/usr/local/include/mavlink/v2.0/common/mavlink_msg_gimbal_device_attitude_status.h:117:119: note:   initializing argument 9 of ‘uint16_t mavlink_msg_gimbal_device_attitude_status_pack_chan(uint8_t, uint8_t, uint8_t, mavlink_message_t*, uint32_t, uint16_t, const float*, float, float, float, uint32_t)’
  117 |                                    uint32_t time_boot_ms,uint16_t flags,const float *q,float angular_velocity_x,float angular_velocity_y,float angular_velocity_z,uint32_t failure_flags)
      |                                                                                                                 ~~~~~~^~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/gazebo_gimbal_controller_plugin.dir/build.make:63: CMakeFiles/gazebo_gimbal_controller_plugin.dir/src/gazebo_gimbal_controller_plugin.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1510: CMakeFiles/gazebo_gimbal_controller_plugin.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/home/hf/src/auav_2022_ws/src/auav_2022_sample/catkin_purt/mavlink_sitl_gazebo/src/gazebo_mavlink_interface.cpp: In member function ‘void gazebo::GazeboMavlinkInterface::LidarCallback(gazebo::LidarPtr&, const int&)’:
/home/hf/src/auav_2022_ws/src/auav_2022_sample/catkin_purt/mavlink_sitl_gazebo/src/gazebo_mavlink_interface.cpp:824:14: error: ‘mavlink_distance_sensor_t’ {aka ‘struct __mavlink_distance_sensor_t’} has no member named ‘signal_quality’
  824 |   sensor_msg.signal_quality = lidar_message->signal_quality();
      |              ^~~~~~~~~~~~~~
/home/hf/src/auav_2022_ws/src/auav_2022_sample/catkin_purt/mavlink_sitl_gazebo/src/gazebo_mavlink_interface.cpp: In member function ‘void gazebo::GazeboMavlinkInterface::SonarCallback(gazebo::SonarPtr&, const int&)’:
/home/hf/src/auav_2022_ws/src/auav_2022_sample/catkin_purt/mavlink_sitl_gazebo/src/gazebo_mavlink_interface.cpp:896:14: error: ‘mavlink_distance_sensor_t’ {aka ‘struct __mavlink_distance_sensor_t’} has no member named ‘signal_quality’
  896 |   sensor_msg.signal_quality = sonar_message->signal_quality();
      |              ^~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/gazebo_mavlink_interface.dir/build.make:63: CMakeFiles/gazebo_mavlink_interface.dir/src/gazebo_mavlink_interface.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1630: CMakeFiles/gazebo_mavlink_interface.dir/all] Error 2
/home/hf/src/auav_2022_ws/src/auav_2022_sample/catkin_purt/mavlink_sitl_gazebo/src/gazebo_camera_manager_plugin.cpp: In member function ‘void gazebo::CameraManagerPlugin::_handle_storage_info(const mavlink_message_t*, sockaddr*)’:
/home/hf/src/auav_2022_ws/src/auav_2022_sample/catkin_purt/mavlink_sitl_gazebo/src/gazebo_camera_manager_plugin.cpp:777:9: error: ‘STORAGE_TYPE_OTHER’ was not declared in this scope; did you mean ‘AIS_TYPE_OTHER’?
  777 |         STORAGE_TYPE_OTHER,                 // storage type
      |         ^~~~~~~~~~~~~~~~~~
      |         AIS_TYPE_OTHER
make[2]: *** [CMakeFiles/gazebo_camera_manager_plugin.dir/build.make:63: CMakeFiles/gazebo_camera_manager_plugin.dir/src/gazebo_camera_manager_plugin.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:843: CMakeFiles/gazebo_camera_manager_plugin.dir/all] Error 2
make: *** [Makefile:163: all] Error 2

    System: Ubuntu 20.04 with ROS noetic

    In process of trying to build the workspace, I got errors that were related to missing packages. Also, I saw that you added a new install script recently, but it does not resolve the problem completely. So, I probably miss some dependencies, and if that is the case I would be glad to have a script, which would install all of them.

    Looking forward to directions.

    Best Regards, Kuba

    opened by RocketFan 5
Owner
James Goppert
James Goppert
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