local_ros_installation.md

Local ROS Installation and LRS

Here we descripe how to use a local ROS installation and interface with the LRS Modules available through docker. The intention is that this should be enough for a person knowledgeable about ROS to start develop there own functionality and interface with the available ROS modules.

See:

• https://aiics.waraps.org/index.php/lrs-lrs_jupyter-md-djisdk-md/
• https://aiics.waraps.org/index.php/lrs-lrs_jupyter-md-single_agent-md/
• https://aiics.waraps.org/index.php/lrs-lrs_jupyter-md-single_agent_tst-md/ for en overview of the available functionality.

Preparation

Get the waraps repo:

git clone git@gitlab.liu.se:lrs/waraps.git

Put the script directory of the waraps repo in your PATH plus add some variables that are needed. For example in .bashrc:

export PATH="...../waraps/script:$PATH"

export WORLD_ORIGIN_LAT=57.7605573519 
export WORLD_ORIGIN_LON=16.6827607783
export WORLD_ORIGIN_ELEVATION=29.8

If you have gotten a lot of running containers that interfere with each other you can stop allrunning containers with:

docker stop $(docker container ls -q)

And to clean up:

docker system prune

Scripts

You now have the following scripts in your path:

wexec

Execute commands in a running docker container.

#!/bin/bash

docker exec -it waradevel "$@"

wgrun

Start a docker container named waradevel and run the commands there. Use this if you have NVIDIA graphics.

#!/bin/bash

docker run --gpus all \
  --network host \
  --ulimit nofile=1024 \
  -v /tmp/.X11-unix:/tmp/.X11-unix \
  -e DISPLAY=unix${DISPLAY}\
  -e ROS_HOSTNAME=localhost \
  --rm -it --name wara gitlab.liu.se:5000/lrs/waraps_docker_images/waraps-melodic:latest "$@"

wrun

Start a docker container named waradevel and run the command there. Use if you do not have NVIDIA graphics.

#!/bin/bash

docker run \
  --network host \
  --ulimit nofile=1024 \
  -v /tmp/.X11-unix:/tmp/.X11-unix \
  -e DISPLAY=unix${DISPLAY}\
  -e ROS_HOSTNAME=localhost \
  --rm -it --name waradevel gitlab.liu.se:5000/lrs/waraps_docker_images/waraps-melodic:latest "$@"

wpull

Pull the image.

#!/bin/bash

docker pull gitlab.liu.se:5000/lrs/waraps_docker_images/waraps-melodic:latest

How to start different parts

Pull the Image

Start by puling the image:

wpull

Start a ros core and the docker container:

wgrun roscore

Loading config files for units

Assume we want to use unit /dji0 in Gränsö. The do:

roslaunch lrs_launch config.launch location:=granso no_airspace_booking:=true ns:=/dji0

Start gazebo using docker (optionally)

If you have a NVIDIA graphics card and support for that in docker then you can if needed start gazebo (and if the container was started with wgrun):

wexec roslaunch lrs_wara_gazebo gazebo.launch

Load the dji model in gazebo:

wexec roslaunch lrs_wara_gazebo dji_to_gazebo.launch name:=dji0 with_laser:=true x:=0

dji 0

wexec roslaunch lrs_launch djisimtst.launch dynamics:=true mpc:=true ns:=/dji0

Start tstdisplayserver

wexec rosrun lrs_util_tst tstdisplayserver.py __ns:=/dji0

RVIZ

Gränsö:

wexec roslaunch lrs_dji_sim rviz_granso.launch

Geneneral, uses the location given to config. Currently only Gränsö ortho photo installed.

wexec roslaunch lrs_launch rviz_outside.launch

Test the dji0

On the local machine do:

Watch the geopose:

rostopic echo /dji0/geopose

Takeoff

wexec rosrun lrs_tst tstcommand.py --takeoff --exec __ns:=/dji0 --disp --op /dji0

Flyto

wexec rosrun lrs_tst tstcommand.py --fly -x 100 -y 100 -z 12 --speed 3 --exec __ns:=/dji0 --disp --op /dji0

Starting dji sim without controller

To plug in your own controller djisim can be started without any controller:

wexec roslaunch lrs_launch djisimtst.launch dynamics:=true ns:=/dji0

The "state" is available on topics:

• /dji0/world_position
• /dji0/dji_sdk/gps_position

The control is done on the topic:

• /dji0/dji_sdk/flight_control_setpoint_generic

and the control mode must be:

• roll
• pitch
• thrust
• yawrate

Compiling Simulator

If you have access to the simulator repos you can compile it locally.

Needed extra packages:

git clone git@gitlab.liu.se:lrs/lrs_basic.git
git clone git@gitlab.liu.se:lrs/motion_models.git
git clone git@gitlab.liu.se:lrs/nonlinearmpc.git
git clone https://github.com/dji-sdk/Onboard-SDK-ROS.git
cd Onboard-SDK-ROS
git checkout 3.8

Install the DJI SDK:

git clone https://github.com/dji-sdk/Onboard-SDK.git
cd Onboard-SDK
git checkout 3.8
cd osd-core
mkdir build
cd build
cmake ../
make -j 4 djiosdk-core
sudo make install djiosdk-core

Running Simulator Locally

TO BE WRITTEN.

roslaunch lrs_dji_sim sim.launch dynamics:=true mpc:=true ns:=/dji0

wexec roslaunch lrs_launch djisimtst.launch simulator:=false ns:=/dji0