runOdroid script global_planner about px4-avoidance HOT 20 CLOSED

Hi Martina,

Ok thank you, I will read and try the local planner. I will let you know how it goes :)

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@acpl00 I am not sure I have understood everything you have written.
The official supported flight mode for the global planner is offboard. That means that you can set a goal for the vehicle trough rviz gui (see the simulation section since it works the exact same way https://github.com/PX4/avoidance#global-planner). The vehicle will autonomously navigate to the goal and the user has no way of interfering with the remote controller sticks. To resume manual control you need to switch flight control mode (e.g. pos control). While flying towards the goal, the global planner algorithm will build a map of the environment (there isn't any preexisting knowledge about the environment)

the runOdroid script is for a particular setup and it won't work on yours. You need to follow the installation instructions to setup your companion computer. Then read trough the HW instructions and write your own launch script. You can basically take this launch file and modify it:

• launch the global_planner node instead of the local_planner
• launch ZED camera instead of Realsense
• tf* arguments (they are explained in the HW readme section)
• fcu_url argument (explained in the HW readme section)

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I don't have it.

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Hi @acpl00 , you shoudn't run the script runOdroid if you are running the avoidance on TX2. Could you please give me some details about your setup such that I can point you towards the right scripts?
Are you using the local_planner or the global_planner? Which camera are you using?

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I have tbs-discovery with a companion computer on board (Jetson TX2) and a stereo system ZED. Then I have my laptop which I want to control the drone over ssh. I run the runOdroid from my laptop.

I practically follow the tutorial:

https://github.com/NVIDIA-AI-IOT/redtail/wiki/Skypad-TBS-Discovery-Setup

I would like to use a global planner since I read that is good enough for global navigation etc or which one you recommend :)

Thank you :)

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@acpl00 I would recommend the local_planner.
You can read about the HW setup here https://github.com/PX4/avoidance#run-on-hardware .
This launch file can give you an example of all the components you need. However it's written for a Intel Realsense camera so you need to change this part

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Hi Martina

OK thank you, I will read about it. But, in case I would like to try the global planner which scrip shall be fine.

May I ask? Why do you recommend local planner instead of global planner

Thank you :)

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@acpl00 the local planner has more flight hours. Furthermore, the gloabal planner builds a map of the environment so you need accurate position for it to work well.

There isn't any ready to run launch file for the global planner. You can look at local_planner_A7001cam.launch to understand all the parts you need and make the necessary changes:

• local_planner -> global_planner
• realsense -> zed camera

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Hi Martina,

Good morning.

1.-The idea is to combine QGC-station with the global path planning, I mean, If we have the satellite view and the position of the drone, one can click in a certain distance on the map from the drone. Then, a square boundary will be created around the drone on the satellite view's map. Within that square area a 3D Octomap map is created, then in the empty space of that 3D map a kind of Voronoi map can be created, or in other words, there is a path in the middle of the obstacles so the drone is able to navigate. If the user apply roll and/or pitch the drone will move and once the user stops applying or moving the sticks of the RC transmitter, the drone will return to the main path. While the drone is navigating in the empty space, the drone will fuse the 3D octomap map from the stereo vision with the one created from the satellite view.

2.-Do you think the global planning code can be used for this task?

3.-How about the Odroidrun script? I read it was tested with the global planner, Am I right? Can I use that script to begin.

Thank you and looking forward to your replay :)

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Ciao Martina,

Thank you so much for the info, it is quite helpful to start with.

Just two things from my previous mail.

1.-I want to show a 2D/3D occupied and empty space in Rviz from the Qgroundcontrol-station fly mission mode. So I do have an initial map. Do you think that is possible.

2.-In the RunOdroid script, there is a line "gnome-terminal --tab -e "ssh -t odroid@odroid 'sleep 0; . ~/.bash_ros; roscore; bash -i'" " that opens a terminal an runs roscore, however I do not know what contains the file ~/.bash_ros;

I know that script is set up for another copter, however I would like to know what it contains :)

Cheers and regards,

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1 - no, rviz will show you the environment that the vehicle has seen while flying and running the global planner.
2 - bash_ros is a script to set up the paths in the catkin workspace such as ROS_PACKAGE_PATH

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Ciao Martina,

Would you mind sending me the content of the script :)

Thank you :)

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you don't need it. If you follow the instruction on how to build the catkin workspace you will have everything working.

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Hi Martina,

I have the catkin working space. however, I would like to take a look to the script, is that possible :)

Thank you :)

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It could be. Do you have any pre-flight checks warnings? Have you try flying first in manual and then in position control?

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@acpl00 please move your questions to the forum or to the Slack channels. The latest issue comments are not related with this topic anymore. Closing

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Hi Nuno

Ok, I did not about that :) and how about if I have more questions about the related topic?

cheers

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from px4-avoidance.

Reopen the issue and ask them. Though I think that @mrivi already gave you the required answers in #162 (comment) and #162 (comment)

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