ROS Index
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heifu repositoryheifu heifu_bringup heifu_description heifu_diagnostic heifu_mavros heifu_msgs heifu_safety heifu_simple_waypoint heifu_tools |
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Repository Summary
| Checkout URI | https://gitlab.pdmfc.com/drones/ros1/heifu.git |
| VCS Type | git |
| VCS Version | releasePackage |
| Last Updated | 2021-01-26 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| heifu | 0.7.7 |
| heifu_bringup | 0.7.7 |
| heifu_description | 0.7.7 |
| heifu_diagnostic | 0.7.7 |
| heifu_mavros | 0.7.7 |
| heifu_msgs | 0.7.7 |
| heifu_safety | 0.7.7 |
| heifu_simple_waypoint | 0.7.7 |
| heifu_tools | 0.7.7 |
README
Installation
ROS packages dependences:
GeographicLib dependeces:
sudo apt-get install libgeographic-dev
sudo apt-get install geographiclib-tools
Run the script in: install_geographiclib_datasets.sh
Compile this directory in your ROS workspace.
Then copy the already configured files to the mavros directory:
cd ${YOUR_ROS_WORKSPACE}/src/heifu/heifu_scripts_firmware
cp apm_config.yaml $(rospack find mavros)/launch/
cp apm.launch $(rospack find mavros)/launch/
cp node.launch $(rospack find mavros)/launch/
NOTE: Adjust the yaml loader script to deal with the argument substitution in the roslaunch of yaml files:
cd ${YOUR_ROS_WORKSPACE}/src/heifu/heifu_scripts_firmware
cp loader.py /opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/
Dont forget to add gimbal and mavros to the source folder and run catkin build
To run the nodes with a real drone:
Just launch - Heifu_bringup
roslaunch heifu_bringup heifu_bringup.launch
Launch Input arguments:
argSafety - Activates the safety zone mode and run the node heifu_safety.
argTakeOffAltitude - Defines the Takeoff altitude.
argSim - Activates the simulation mode. Loads Gazebo and a pre-configured world with the drone HEIFU.
argSecredas - Activates the Secredas Usecases. (Needs extra packages secredas).
argUseCase - Defines witch usecase of Secredas will be loaded.
argPlanners - Loads the Planners nodes with static colision avoidance (Needs extra packages Planners).
Heifu Simulation:
First make sure that the ArduPilot firmware is correctly installed, by following the steps described here.
To open the simulation:
1st terminal - Launch Heifu_bringup
roslaunch heifu_bringup heifu_bringup.launch argSim:=true
2nd terminal - Launch ArduPilot firmware
cd ~/ardupilot/ArduCopter/
sim_vehicle.py -v ArduCopter -f gazebo-heifu -I1
Packages
Heifu Bringup
Responsible for load all packages.
Heifu Description
This package contains the drone robot HEIFU and the worlds for the simulation.
Heifu Diagnostic
Responsible for verify the GPS fix state of the drone and send the information to the application.
Subscribers:
- /diagnostics
File truncated at 100 lines see the full file