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An abstraction layer for unmanned aerial vehicles

License: MIT License

CMake 16.40% Python 16.47% C++ 66.45% Shell 0.69%

uav uas drone ros mavros px4

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Change setHome function for real applications

In tested real applications, we need setHome to leave current z instead of setting it to zero. If this behavior is finally preferred, we need to change the function to something like setHome(bool set_z = false)

Reference Frames

Decide and implement a common way of defining reference frames: grvcQuadrotor frames? tf?

Upgrade PX4 Firmware version

Mavros did it again

New mavros version (0.29) changes again velocity topic names and frames!

Manual mode tutorial

Hello, I'm looking for the way to control the UAV with a joystick, since the install tutorial talks about this option, but I can't find any tutorial that explains the way to do it. It would be great if someone could tell me the way.

Support for VREP

Can you please add support for VREP please?

Spawn gzmodel should wait Gazebo to be ready

In computers where Gazebo takes more time to load, trying to spawn the robot while Gazebo is not loaded fails, blocking Gazebo. It can be fixed increasing the sleep time before trying to spawn, but this is arbitrary.

There should be a way to know when Gazebo is ready to spawn.

An instance of Gazebo is not running.

I am trying to use UAL but when I run roslaunch px4_bringup spawn_robot.launch I get the following message:

auto-starting new master
process[master]: started with pid [2552]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 93a5e0b0-4ef2-11e8-82c4-342387f4e2b1
process[rosout-1]: started with pid [2626]
started core service [/rosout]
process[spawn_gzmodel_1-2]: started with pid [2633]
process[run_px4sitl_1-3]: started with pid [2680]
process[run_mavros_1-4]: started with pid [2681]
An instance of Gazebo is not running.
[spawn_gzmodel_1-2] process has finished cleanly
log file: /home/vigus/.ros/log/93a5e0b0-4ef2-11e8-82c4-342387f4e2b1/spawn_gzmodel_1-2*.log

Does it happen to someone else?

Issues with installation instructions

I started a brand new Ubuntu 16.04 with ROS kinetic. Then I followed your instructions. At the very last step, I get the following error message:
Command
roslaunch uav_abstraction_layer test_server.launch
Error

[test_server.launch] is neither a launch file in package [uav_abstraction_layer] nor is [uav_abstraction_layer] a launch file name
The traceback for the exception was written to the log file

Also, the sitl gazebo launcher has issues. The IMU is failing:

ERROR [sensors] Accel #0 fail:  TIMEOUT!
ERROR [sensors] Gyro #0 fail:  TIMEOUT!

Different levels of simulation precision

Study a way of having a very-light-not-necessarily-realistic simulation, as it's useful for high-level algorithms. A solution might be a new ual backend based on grvc-utils/gazebo_animator package.

Mavros fcu_url

As possible mavros fcu_url grows, we'll have to deal with more modes and options (ip, ports...). Is it better to do fcu_url a parameter itself?

Add more interfaces to UAL

There can be more information needed from the autopilots (and available in most of them), or different ways of providing the same information. For example:

Odometry message (with pose and velocity)
Telemetry message (including battery level or other information)

Collision mesh in models

Add the possibility of defining a collision mesh for the multirotor body in robots_description/urdf/multirotor_base.xacro

Add noise to LightUAL simmulation

Add Gaussian noise as a parameter to the published positions of the UAVs in the light simulation. By default, no noise.

Use AUTO.TAKEOFF?

Should we use AUTO.TAKEOFF mode in BackendMavros? See pros and cons after testing it.

ns in px4_bringup test_simulate.launch

When launch robot id=1, 2, 3. Delete ns="uav_1" and the others because UAL now not use these prefix to get topics information.

Rethink goToWaypoint function

In fact, replace it with setPose and then rethink it in terms of velocity control. Then check that every application is calling the right function (depending on waypoints proximitiy).

UAL multi-threading

UAL multi-threading seems to reject tasks even if backend is idle. Solve this problem before implementing the service server on top.

Incorrect frame id in velocity

The velocity frame id seems to be incorrect as published in /ual/velocity

ROS tf2 delays problem

It seems that tf2 does not correctly handle delays when retrieving a transform even from /tf_static topic. The program eventually crashes because it could not find a specific frame. tf2 is supposed to help with the transforms, not to add more problems.

Lighten Gaebo CPU load

Study ways of lighten Gazebo CPU load, as Daniel and Edu did modifying world physics. In the case world physics is the best solution, see if we should make a specific packege/folder for lighten worlds.

goToWaypoint in geographic coordinate system

It might be helpful in some applications to be able to command the UAV in geographic coordinates (i.e., latitude and logitude).

Change some services to topics

Services like SetVelocity may have more sense as topics.

Go_to_way_point below the ground or set_velocity to negative until drone reaches the ground

If I send the uav to a position below z=0, it will land, the ual state becomes LANDED_ARMED, but then it is not possible to take off or do anything else. If trying to take off, UAL throws an error: "Exception thrown while processing service call: Invalid argument"

If the topic set_velocity z linear velocity is set to negative and the drone reaches the floor, the ual state doens't update (keeps as Flying)

UAL alternative constructors

It might be versatile to have more constructors to not to force people to use argument_parser package, or in cases where the input arguments are not available.

Decouple simulation initial position from uav_home frame definition

Simulation initial position and uav_home are not always equal, how could we decouple them?

Vision Pose

Things get complicated when we rely on vision pose. Rethink tfs.

run_mavros.py should accept full fcu and gcs urls and not only IPs

A new custom mode is needed to fully configure fcu and gcs urls in mavros.

/ual/state

Maybe useful have a /ual/state topic where inform about general status about ual

Example situation: to know if is running correctly after new installation, testing a connection with pixhawk directly

Make sensor gazebo plugins optional

In robots description, make de addition of sensor plugins (camera, lidar...) optional.

Use relative topic names instead of global names

ual/pose instead of /ual_1/pose

Review spin calls

Some code in aeroarms now warns:

[ERROR] [1521713978.445512914]: SingleThreadedSpinner: Attempt to spin a callback queue from two spinners, one of them being single-threaded.
In the future this will throw an exception! You might want to use a MultiThreadedSpinner instead.

Check unusual tf frequency rate of the simulator

I was playing with the simulator a bit and by chance I executed the following commands:
$ rosrun tf view_frames
$ evince frames.pdf

The report generated report a transformation rate of 10kHz between map and uav_N_home. I believe that this rate could be somehow consuming much more resources than the necessaries.

Please check!

Compiling error

In backend_mavros.cpp line 135:

flight_mode_service.response.success ? "true" : "false");

SetMode.Response.success has been changed to SetMode.Response.mode_sent, so it must be:

flight_mode_service.response.mode_sent ? "true" : "false");

Source:
mavlink/mavros@599c588

Namespacing is not clear

The use of ROS namespaces is not clear. The actual architecture forces to have a namespace and in a determined way. This should be more standard.

Mavros set pose with "bad" orientation leads to yaw control error

Orientation quaternion should be checked before sending to mavros.

Check possibility of a backend for AirSim

https://github.com/Microsoft/AirSim

New TF system should be implemented in light backend

New TF system, as described in the wiki and implemented in mavros backend, should be also available for the light backend

Expose UAL state?

As UAL is now state-aware, should we expose it?

Error compilacion Firmware

Estaba compilando según las instrucciones de la Wiki y me sale este error:

[ 98%] Built target rotors_gazebo_imu_plugin
/home/aquiles/catkin_ws/src/Firmware/Tools/sitl_gazebo/src/gazebo_geotagged_images_plugin.cpp: In member function ‘void gazebo::GeotaggedImagesPlugin::handle_message(mavlink_message_t*)’:
/home/aquiles/catkin_ws/src/Firmware/Tools/sitl_gazebo/src/gazebo_geotagged_images_plugin.cpp:353:50: error: too many arguments to function ‘uint16_t mavlink_msg_command_ack_pack_chan(uint8_t, uint8_t, uint8_t, mavlink_message_t*, uint16_t, uint8_t, uint8_t)’
                                        msg.compid);
                                                  ^
In file included from /opt/ros/kinetic/include/mavlink/v2.0/common/common.h:1165:0,
                 from /opt/ros/kinetic/include/mavlink/v2.0/common/mavlink.h:32,
                 from /home/aquiles/catkin_ws/src/Firmware/Tools/sitl_gazebo/include/gazebo_geotagged_images_plugin.h:32,
                 from /home/aquiles/catkin_ws/src/Firmware/Tools/sitl_gazebo/src/gazebo_geotagged_images_plugin.cpp:18:
/opt/ros/kinetic/include/mavlink/v2.0/common/./mavlink_msg_command_ack.h:89:24: note: declared here
 static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                        ^
CMakeFiles/gazebo_geotagged_images_plugin.dir/build.make:62: recipe for target 'CMakeFiles/gazebo_geotagged_images_plugin.dir/src/gazebo_geotagged_images_plugin.cpp.o' failed
make[7]: *** [CMakeFiles/gazebo_geotagged_images_plugin.dir/src/gazebo_geotagged_images_plugin.cpp.o] Error 1
CMakeFiles/Makefile2:141: recipe for target 'CMakeFiles/gazebo_geotagged_images_plugin.dir/all' failed
make[6]: *** [CMakeFiles/gazebo_geotagged_images_plugin.dir/all] Error 2
Makefile:149: recipe for target 'all' failed
make[5]: *** [all] Error 2
src/firmware/posix/CMakeFiles/sitl_gazebo.dir/build.make:112: recipe for target 'external/Stamp/sitl_gazebo/sitl_gazebo-build' failed
make[4]: *** [external/Stamp/sitl_gazebo/sitl_gazebo-build] Error 2
CMakeFiles/Makefile2:10965: recipe for target 'src/firmware/posix/CMakeFiles/sitl_gazebo.dir/all' failed
make[3]: *** [src/firmware/posix/CMakeFiles/sitl_gazebo.dir/all] Error 2
CMakeFiles/Makefile2:15388: recipe for target 'src/firmware/posix/CMakeFiles/gazebo.dir/rule' failed
make[2]: *** [src/firmware/posix/CMakeFiles/gazebo.dir/rule] Error 2
Makefile:5239: recipe for target 'gazebo' failed
make[1]: *** [gazebo] Error 2
Makefile:159: recipe for target 'posix_sitl_default' failed
make: *** [posix_sitl_default] Error 2

Compilation error with latest ros-kinetic version

catkin_make backtrace

´´´
-- PX4 VERSION: v1.6.3
-- CONFIG: posix-sitl-default
-- CMAKE_INSTALL_PREFIX: /home/bardo91/programming/grvc_catkin/install
-- CMAKE_MODULE_PATH: /home/bardo91/programming/grvc_catkin/src/Firmware/cmake
-- The ASM compiler identification is GNU
-- Found assembler: /usr/bin/cc
-- catkin ENABLED
-- Found PY_jinja2: /usr/lib/python2.7/dist-packages/jinja2
-- C compiler: cc (Ubuntu 5.4.0-6ubuntu116.04.5) 5.4.0 20160609
-- C++ compiler: c++ (Ubuntu 5.4.0-6ubuntu116.04.5) 5.4.0 20160609
-- +++ processing catkin package: 'px4_bringup'
-- ==> add_subdirectory(grvc-ual/px4_bringup)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'handy_tools'
-- ==> add_subdirectory(grvc-utils/handy_tools)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'uav_abstraction_layer'
-- ==> add_subdirectory(grvc-ual/uav_abstraction_layer)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Error at grvc-ual/uav_abstraction_layer/CMakeLists.txt:37 (message):
GeographicLib exception: File not readable
/usr/share/GeographicLib/geoids/egm96-5.pgm

Run install_geographiclib_dataset.sh script in order to install Geoid Model dataset!
Or run: $ sudo geographiclib-get-geoids egm96-5

-- Configuring incomplete, errors occurred!
See also "/home/bardo91/programming/grvc_catkin/build/CMakeFiles/CMakeOutput.log".
See also "/home/bardo91/programming/grvc_catkin/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
´´´

Increase frequency of publish loops

Maybe 10Hz is too low and many messages are received at 30Hz.

Backend abort function

As "automatic" abort function calling is supervised in ual, enable take-off and land abortion in case of explicit calling.

Error compiling SITL - fatal error: ignition/math/Inertial.hh: No such file or directory

I have a compile error while compiling the Firmware. It is related with some gazebo msgs.

[ 58%] Building CXX object CMakeFiles/rotors_gazebo_controller_interface.dir/src/gazebo_controller_interface.cpp.o
In file included from /usr/include/gazebo-7/gazebo/gazebo_core.hh:21:0,
                 from /usr/include/gazebo-7/gazebo/gazebo.hh:20,
                 from /home/bardo91/programming/catkin_grvc/src/Firmware/Tools/sitl_gazebo/include/gazebo_imu_plugin.h:27,
                 from /home/bardo91/programming/catkin_grvc/src/Firmware/Tools/sitl_gazebo/src/gazebo_imu_plugin.cpp:21:
/usr/include/gazebo-7/gazebo/msgs/msgs.hh:24:37: fatal error: ignition/math/Inertial.hh: No such file or directory
compilation terminated.
CMakeFiles/rotors_gazebo_imu_plugin.dir/build.make:62: recipe for target 'CMakeFiles/rotors_gazebo_imu_plugin.dir/src/gazebo_imu_plugin.cpp.o' failed
make[7]: *** [CMakeFiles/rotors_gazebo_imu_plugin.dir/src/gazebo_imu_plugin.cpp.o] Error 1
CMakeFiles/Makefile2:220: recipe for target 'CMakeFiles/rotors_gazebo_imu_plugin.dir/all' failed
make[6]: *** [CMakeFiles/rotors_gazebo_imu_plugin.dir/all] Error 2
make[6]: *** Waiting for unfinished jobs....
In file included from /usr/include/gazebo-7/gazebo/gazebo_core.hh:21:0,
                 from /usr/include/gazebo-7/gazebo/gazebo.hh:20,
                 from /home/bardo91/programming/catkin_grvc/src/Firmware/Tools/sitl_gazebo/include/gazebo_mavlink_interface.h:34,
                 from /home/bardo91/programming/catkin_grvc/src/Firmware/Tools/sitl_gazebo/src/gazebo_mavlink_interface.cpp:22:
/usr/include/gazebo-7/gazebo/msgs/msgs.hh:24:37: fatal error: ignition/math/Inertial.hh: No such file or directory
compilation terminated.
In file included from /usr/include/gazebo-7/gazebo/gazebo_core.hh:21:0,
                 from /usr/include/gazebo-7/gazebo/gazebo.hh:20,
                 from /home/bardo91/programming/catkin_grvc/src/Firmware/Tools/sitl_gazebo/include/gazebo_controller_interface.h:26,
                 from /home/bardo91/programming/catkin_grvc/src/Firmware/Tools/sitl_gazebo/src/gazebo_controller_interface.cpp:22:
/usr/include/gazebo-7/gazebo/msgs/msgs.hh:24:37: fatal error: ignition/math/Inertial.hh: No such file or directory
compilation terminated.
CMakeFiles/rotors_gazebo_mavlink_interface.dir/build.make:62: recipe for target 'CMakeFiles/rotors_gazebo_mavlink_interface.dir/src/gazebo_mavlink_interface.cpp.o' failed
make[7]: *** [CMakeFiles/rotors_gazebo_mavlink_interface.dir/src/gazebo_mavlink_interface.cpp.o] Error 1
CMakeFiles/Makefile2:72: recipe for target 'CMakeFiles/rotors_gazebo_mavlink_interface.dir/all' failed
make[6]: *** [CMakeFiles/rotors_gazebo_mavlink_interface.dir/all] Error 2
CMakeFiles/rotors_gazebo_controller_interface.dir/build.make:62: recipe for target 'CMakeFiles/rotors_gazebo_controller_interface.dir/src/gazebo_controller_interface.cpp.o' failed
make[7]: *** [CMakeFiles/rotors_gazebo_controller_interface.dir/src/gazebo_controller_interface.cpp.o] Error 1
CMakeFiles/Makefile2:146: recipe for target 'CMakeFiles/rotors_gazebo_controller_interface.dir/all' failed
make[6]: *** [CMakeFiles/rotors_gazebo_controller_interface.dir/all] Error 2
In file included from /usr/include/gazebo-7/gazebo/gazebo_core.hh:21:0,
                 from /usr/include/gazebo-7/gazebo/gazebo.hh:20,
                 from /home/bardo91/programming/catkin_grvc/src/Firmware/Tools/sitl_gazebo/include/gazebo_motor_model.h:27,
                 from /home/bardo91/programming/catkin_grvc/src/Firmware/Tools/sitl_gazebo/src/gazebo_motor_model.cpp:22:
/usr/include/gazebo-7/gazebo/msgs/msgs.hh:24:37: fatal error: ignition/math/Inertial.hh: No such file or directory
compilation terminated.
CMakeFiles/rotors_gazebo_motor_model.dir/build.make:62: recipe for target 'CMakeFiles/rotors_gazebo_motor_model.dir/src/gazebo_motor_model.cpp.o' failed
make[7]: *** [CMakeFiles/rotors_gazebo_motor_model.dir/src/gazebo_motor_model.cpp.o] Error 1
CMakeFiles/Makefile2:183: recipe for target 'CMakeFiles/rotors_gazebo_motor_model.dir/all' failed
make[6]: *** [CMakeFiles/rotors_gazebo_motor_model.dir/all] Error 2
Makefile:151: recipe for target 'all' failed
make[5]: *** [all] Error 2
platforms/posix/CMakeFiles/sitl_gazebo.dir/build.make:112: recipe for target 'external/Stamp/sitl_gazebo/sitl_gazebo-build' failed
make[4]: *** [external/Stamp/sitl_gazebo/sitl_gazebo-build] Error 2
CMakeFiles/Makefile2:10751: recipe for target 'platforms/posix/CMakeFiles/sitl_gazebo.dir/all' failed
make[3]: *** [platforms/posix/CMakeFiles/sitl_gazebo.dir/all] Error 2
CMakeFiles/Makefile2:19384: recipe for target 'platforms/posix/CMakeFiles/gazebo.dir/rule' failed
make[2]: *** [platforms/posix/CMakeFiles/gazebo.dir/rule] Error 2
Makefile:6385: recipe for target 'gazebo' failed
make[1]: *** [gazebo] Error 2
Makefile:147: recipe for target 'posix_sitl_default' failed
make: *** [posix_sitl_default] Error 2

Simulations should be optional and its dependencies too

Working in a platform without graphic acceleration support I could not compile the project due to the following error:

-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 8 packages in topological order:
-- ~~  - argument_parser
-- ~~  - robots_description
-- ~~  - gazebo_animator
-- ~~  - handy_tools
-- ~~  - px4_bringup
-- ~~  - static_tf_publisher
-- ~~  - uav_abstraction_layer
-- ~~  - vicon_bridge
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'argument_parser'
-- ==> add_subdirectory(grvc-utils/argument_parser)
-- +++ processing catkin package: 'robots_description'
-- ==> add_subdirectory(grvc-ual/robots_description)
-- +++ processing catkin package: 'gazebo_animator'
-- ==> add_subdirectory(grvc-utils/gazebo_animator)
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by "gazebo_ros" with
  any of the following names:

    gazebo_rosConfig.cmake
    gazebo_ros-config.cmake

  Add the installation prefix of "gazebo_ros" to CMAKE_PREFIX_PATH or set
  "gazebo_ros_DIR" to a directory containing one of the above files.  If
  "gazebo_ros" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  grvc-utils/gazebo_animator/CMakeLists.txt:10 (find_package)


-- Could not find the required component 'gazebo_ros'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "gazebo_ros" with
  any of the following names:

    gazebo_rosConfig.cmake
    gazebo_ros-config.cmake

  Add the installation prefix of "gazebo_ros" to CMAKE_PREFIX_PATH or set
  "gazebo_ros_DIR" to a directory containing one of the above files.  If
  "gazebo_ros" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  grvc-utils/gazebo_animator/CMakeLists.txt:10 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/nvidia/programming/catkin_grvc/build/CMakeFiles/CMakeOutput.log".
See also "/home/nvidia/programming/catkin_grvc/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

Malfunction when sending several waypoints

Waypoints can be continuously received by the UAL. When a new waypoint is received, the previous one is aborted. This action puts the UAL in hover. If you want to follow a target by sending new waypoints periodically, the UAV will end bouncing and not reaching any waypoint.

Avoid communication flooding

Study px4 and mavros communication configurations (ports, links, topics, frequencies...) to avoid unnecessary traffic. A place to start might be px4cmd files in robots_description/models and px4_config.yaml and px4_pluginlists.yaml in px4_bringup/config.

Does local_position_ still make sense?

local_position_ exists to correct the possible error in the initial estimation of the GPS pose. It is still working but we must look at this issue in real experiments.

Auto-Logging System

It would be nice to develop an autologger which registers the most important information when the ual is running. For example, I was thinking in the following data:

Controller results:

local position pose and setpoint position
local position velocity and setpoint velocity
attitude and setpoint attitude

Measurements of the main sensors:

IMU
GPS
Magnetometer

RC state and signals

Global data:

Armed-Disarmed
Flight mode

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