Various robotics resources:
Fast-Planner: git, Beomsu's PX4, Mzahana's PX4
Agile_autonomy: git
Panther: Git, Youtube, Our_implimentation; Paper
mader: git
faster: Git
sb_min_time_quadrotor_planning: Git
kr_autonomous_flight: Git
Vins-Fusion: git, Mzahana’s Jetson docker
RTABMap: Orignal_git, drone version
ORB_SLAM2: git
Getting Started with PX4 Mavros: Instructions
Getting Started with Ardupilot Mavros: Instructions, all
QGC: Installation
Mission Planner: Installation
MAVSDK-Python: git_installation
How to add a ROS camera to IRIS for gazebo simulation? answer
Some simple mavros scripts: Matny’s git
Debuging: balance-out-while-lifting
Short the pin for in-built compass
data-driven-dynamics: ETH Git Code
List of Web Tools for ROS Robots: blog/web page
ROSLink: git
SDS: AWS Blog
UG-One: Git
WebODM: Git
ros_dronemap: Git
drone-cloud-platform3.0: Git
Cloud-Controlled-4GLTE-Drone-GCS: Git
Dronekit/tower-web: Git
Azure Cloud Services for DJI Drones: blog
Aerial Robotics Course from HKUST: drive
https://blog.roboflow.com/how-to-train-yolov6-on-a-custom-dataset/), blog2), {Recommended}Yolov7(git, tutorial, colab), Walt More resources: 1, 2, 3
Paper: 1
Leaf Health and Disease: Data[1,2,3,4], Paper[1,2,3,4], Test Video[1,2,3,4], Code[Git, 1,2,3_matlab,4, 5 more]
Object counting: one-tab
Kalman-Filter: Blog, Library, Paper, Code & Explaination - Recommended
sudo apt-get install ros-$ROS_DISTRO-mavros ros-$ROS_DISTRO-mavros-extras
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo bash ./install_geographiclib_datasets.sh
=> https://github.com/mavlink/mavros
git clone https://github.com/mavlink/mavros.git
git clone https://github.com/Jaeyoung-Lim/mavros_controllers.git
https://github.com/HKUST-Aerial-Robotics/mockasimulator
e.g unable to take off
rosrun mavros checkid
rostopic echo /mavros/state
rostopic echo -n 1 /mavros/state
rostopic echo -n 1 /diagnostics
cd workspace/src cp Fast-Planner/storage/1024_iris_depth_camera ~/.ros/etc/init.d-posix/airframes/1024_iris_depth_camera ??mzahana sudo apt install ros-noetic-multi-map-server
cd /home/rajendra/
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
cd PX4-Autopilot/
DONT_RUN=1 make px4_sitl_default gazebo
pip3 install future
cd PX4-Autopilot/Tool/sitl-gazebo git checkout 6fa6ec78a7a1619b7b90ac0c01aaec919defbe35
cat PX4-Autopilot/Tools/setup/requirements.txt cat PX4-Autopilot/src/lib/events/libevents/requirements.txt
=> sudo apt install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
Error 5. UAS: GeographicLib exception: File not readable /usr/share/GeographicLib/geoids/egm96-5.pgm.
cd PX4-Autopilot/
DONT_RUN=1 make px4_sitl_default gazebo
source ~/catkin_ws/devel/setup.bash # (optional)
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
roslaunch px4 posix_sitl.launch
source ~/.bashrc
source /opt/ros/noetic/setup.bash
source ~/drone_ws/devel/setup.bash
source ~/PX4-Autopilot/Tools/setup_gazebo.bash ~/PX4-Autopilot ~/PX4-Autopilot/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot/Tools/sitl_gazebo
?? PX4 version: v1.13.0-alpha1-3027-geade2915c1
cd PX-Avoidance
roslaunch local_planner local_planner_stereo.launch
rosrun mavros mavsys mode -c OFFBOARD
rosrun mavros mavsafety arm
rosrun mavros mavsys mode -c OFFBOARD
Installation: https://ardupilot.org/dev/docs/building-setup-linux.html
Setting up SITL on Linux: https://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html
cd ~/drone_ws/ardupilot
./waf configure --board sitl
cd ~/drone_ws/ardupilot/ArduCopter
sim_vehicle.py -w (once)
sim_vehicle.py --console --map
/home/rajendra/drone_ws/ardupilot/Tools/autotest/sim_vehicle.py -v ArduCopter --no-extra-ports -I 0 --out=udp:54.161.56.169:14550
/home/rajendra/drone_ws/ardupilot/Tools/autotest/sim_vehicle.py -v ArduCopter --console --map --no-extra-ports -I 0 --out=udp:54.161.56.169:14550
source devel/setup.bash && roslaunch plan_manage rviz.launch
source devel/setup.bash && roslaunch plan_manage kino_replan.launch
https://github.com/beomsu7/Fast-Planner
roslaunch plan_manage px4_sitl_kino_replan.launch
rosrun mavros mavsafety arm
rosrun mavros mavsys mode -c OFFBOARD
https://github.com/mzahana/px4_fast_planner
roslaunch px4_fast_planner px4_fast_planner.launch
rostopic pub --once /move_base_simple/goal geometry_msgs/PoseStamped "header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
pose:
position:
x: 19.0
y: 15.0
z: 3.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0"
Error: inotify_add_watch("/home/rajendra/.config/ibus/bus/cf071f50b0c74016a868d5634bb32107-unix-0") failed: "No space left on device"
echo fs.inotify.max_user_watches=65536 | sudo tee -a /etc/sysctl.conf && sudo sysctl -p
https://askubuntu.com/questions/1088272/inotify-add-watch-failed-no-space-left-on-device
https://blog.csdn.net/Changer_sun/article/details/79212313
Triggered!
[TRIG]: from WAIT_TARGET to GEN_NEW_TRAJ
[kino replan]: -----------------------
start: -0.0112145 -0.00287183 -0.00545828, -0.00900632 -0.00325972 -0.0105637, 0 0 0
goal:0 0 1, 0 0 0
[fast_planner_node-2] process has died [pid 99980, exit code -11, cmd /home/rajendra/drone_ws/devel/lib/plan_manage/fast_planner_node /odom_world:=/mavros/local_position/odom /sdf_map/odom:=/mavros/local_position/odom /sdf_map/cloud:=/pcl_render_node/cloud /sdf_map/pose:=/mavros/local_position/pose /sdf_map/depth:=/d435/depth/image_rect_raw __name:=fast_planner_node __log:=/home/rajendra/.ros/log/cf8b4932-4483-11ec-a2f0-cf1b4db027f8/fast_planner_node-2.log].
log file: /home/rajendra/.ros/log/cf8b4932-4483-11ec-a2f0-cf1b4db027f8/fast_planner_node-2*.log
https://github.com/HKUST-Aerial-Robotics/VINS-Fusion
cd drone_ws/
### Open 4 terminals, and run each.
source devel/setup.bash && roslaunch vins vins_rviz.launch
source devel/setup.bash && rosrun vins vins_node ~/drone_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml
source devel/setup.bash && rosrun loop_fusion loop_fusion_node ~/drone_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml
source devel/setup.bash && rosbag play bagfiles/MH_04_difficult.bag
source devel/setup.bash && roslaunch vins vins_rviz.launch
source devel/setup.bash && rosrun vins vins_node ~/drone_ws/src/VINS-Fusion/config/realsense_d435i/realsense_stereo_d435_config.yaml
source devel/setup.bash && rosrun loop_fusion loop_fusion_node ~/drone_ws/src/VINS-Fusion/config/realsense_d435i/realsense_stereo_d435_config.yaml
source devel/setup.bash && roslaunch vins rs_camera_d435.launch
cd ~/drone_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git
cd ../
sudo apt-get install cmake
sudo apt-get install libgoogle-glog-dev libgflags-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev
http://ceres-solver.org/ceres-solver-2.0.0.tar.gz
cp ~/Downloads/ceres-solver-2.0.0.tar.gz .
tar zxf ceres-solver-2.0.0.tar.gz
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-2.0.0
make -j3
make test
sudo make install
catkin_make
if error: /usr/include/eigen3/Eigen/SVD:35:10: fatal error: src/SVD/UpperBidiagonalization.h: No such file or directory
i.e missing /usr/include/eigen3/Eigen/src/SVD UpperBidiagonalization.h
pkg-config --modversion eigen3
=> sudo apt install libeigen3-dev --reinstall #even if to newest version still reinstall
https://github.com/colmap/colmap/issues/905
https://programmerah.com/solved-ceres-compile-error-integer_sequence-is-not-a-member-of-std-31728/
https://stackoverflow.com/questions/17424477/implementation-c14-make-integer-sequence
My ErrorLog.txt => https://gist.github.com/iamrajee/6e43d88e65214f2fa96a30d3dcb365bb
Solution (c++11 => c++14) in:
cd ~/drone_ws/src/VINS-Fusion
code camera_models/CMakeLists.txt
code global_fusion/CMakeLists.txt
code loop_fusion/CMakeLists.txt
code vins_estimator/CMakeLists.txt
rosrun vins vins_node ~/drone_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml
=> Segmentation Fault
https://github.com/HKUST-Aerial-Robotics/VINS-Fusion/issues/134
https://github.com/HKUST-Aerial-Robotics/VINS-Fusion/issues/106#issuecomment-864415677
https://github.com/mrdavoodi/VINS-Fusion/commits/master
cd ~/drone_ws/src/VINS-Fusion
code camera_models/include/camodocal/calib/CameraCalibration.h
https://github.com/mrdavoodi/VINS-Fusion/commit/0e50050be32a8a5292b862fa86a605e3adf6761e
code camera_models/include/camodocal/camera_models/Camera.h
https://github.com/mrdavoodi/VINS-Fusion/commit/fc3f3ccd1786dec1fe73baeb2900a8992ee3cc65
code camera_models/include/camodocal/chessboard/Chessboard.h
https://github.com/mrdavoodi/VINS-Fusion/commit/0461b57850d5b5393b9476950f883178670a71b9
code loop_fusion/src/ThirdParty/DVision/BRIEF.h
https://github.com/mrdavoodi/VINS-Fusion/commit/37144c454117092baac22818caf9c8e33c7e66f0
Because using old version of opencv
https://github.com/opencv/opencv/issues/13201
https://github.com/opencv/opencv/pull/13253/commits/562676c5dae4d25b00f88556bd8de99330d4e484
https://github.com/raulmur/ORB_SLAM2/issues/782
https://answers.ros.org/question/225229/error-opencv2imgcodecshpp/
#### Solution 1. Tried didn't work
cd /usr/include/opencv/modules/imgcodecs/include/opencv2/imgcodecs
sudo cp -r /usr/include/opencv4/opencv2/imgcodecs/legacy .
(But have to build again so aborded => mv legacy/ .legacy/)
#### Solution 2. Changing CV bridge opencv version older(3 or opencv) to newer(4)
cd /opt/ros/noetic/share/cv_bridge/cmake
code cv_bridgeConfig.cmake
=> din't work
#### Simple =>? removing that inclusion (#include "opencv2/imgcodecs/legacy/constancts_c.h").
Doesn;t either Works?
https://github.com/PX4/PX4-SITL_gazebo/issues/823
cd ~/px4_ws/src/PX4-SITL_gazebo
git checkout 6fa6ec78a7a1619b7b90ac0c01aaec919defbe35
?? catkin_make
[100%] Linking CXX executable /home/rajendra/drone_ws/devel/lib/vins/vins_node
/usr/bin/ld: warning: libopencv_video.so.4.2, needed by /home/rajendra/drone_ws/devel/lib/libvins_lib.so, may conflict with libopencv_video.so.3.4
[100%] Built target vins_node
/media/rajendra/ab55e7ad-83d7-457b-874a-dc8d74f368cb/rajendra/drone_ws
Changing Frame: "world" => "map"
code vins_estimator/src/utility/visualization.cpp
code vins_estimator/src/estimator/estimator.cpp
code loop_fusion/src/pose_graph.cpp
code loop_fusion/src/pose_graph_node.cpp
code global_fusion/src/globalOpt.cpp
code global_fusion/src/globalOptNode.cpp
cd drone_ws/src
https://github.com/matlabbe/rtabmap_drone_example
git clone https://github.com/matlabbe/rtabmap_drone_example.git
git clone https://github.com/SyrianSpock/realsense_gazebo_plugin.git
cd ../
./rosdep
sudo apt install ros-noetic-teleop-twist-joy
sudo apt install ros-noetic-imu-complementary-filter
catkin_make
roslaunch rtabmap_drone_example gazebo.launch
roslaunch rtabmap_drone_example rviz.launch
roslaunch rtabmap_drone_example slam.launch
rosrun rtabmap_drone_example offboard
??
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
=> https://github.com/Malintha, https://github.com/malintha/rrt-ros
roscore
rosrun rrt-planning rrt
rosrun rviz rviz #add mark from available topic
sudo apt install ros-melodic-mavros-extras
sudo apt install ninja-build exiftool ninja-build protobuf-compiler libeigen3-dev genromfs xmlstarlet libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
pip2 install pandas jinja2 pyserial cerberus pyulog==0.7.0 numpy toml pyquaternion empy pyyaml
pip3 install packaging numpy empy toml pyyaml jinja2 pyargparse
pip install --upgrade setuptools
python -m pip install --upgrade pip
sudo apt install ros-melodic-gazebo-*
sudo apt-get install ros-melodic-camera-info-manager
mkdir -p xtdrone_ws/src
cd xtdrone_ws/src/
git clone https://github.com/robin-shaun/XTDrone --recursive
cp ~/drone_ws/*.sh .
mkdir -p xtdrone_ws/src
cd ~/xtdrone_ws$
./rosdep.sh
=> roscd xtdrone_qt
~/xtdrone_ws/src/XTDrone/coordination/formation_communication_demo
sudo mv xtdrone_qt/ .xtdrone_qt/
=> catkin_make
=> catkin_make_isolated
=> catkin build
=> sudo pip install -U catkin_tools
=> sudo apt install libqt5charts5-dev
=> ???
https://stackoverflow.com/questions/16710047/usr-bin-ld-cannot-find-lnameofthelibrary
cd ~/PX4-Autopilot
roslaunch px4 indoor1.launch
OR
roslaunch px4 mavros_posix_sitl_iris_0.launch
cd ~/XTDrone/communication/
python multirotor_communication.py iris 0
cd ~/XTDrone/control/keyboard
python multirotor_keyboard_control.py iris 1 vel
cd ~/drone_ws/src/kalibr/aslam_offline_calibration/kalibr/python
roslaunch vins rs_camera_d435.launch
OR
roslaunch depthai_examples stereo_node.launch
rqt_image_view
rosrun topic_tools throttle messages /camera/infra1/image_rect_raw 4.0 /cam0/image_raw
rosrun topic_tools throttle messages /camera/infra2/image_rect_raw 4.0 /cam1/image_raw
OR
rosrun topic_tools throttle messages /stereo_publisher/left/image 4.0 /cam0/image_raw
rosrun topic_tools throttle messages /stereo_publisher/right/image 4.0 /cam1/image_raw
rosbag record /cam0/image_raw /cam1/image_raw
./kalibr_calibrate_cameras --target april_6x6.yaml --bag 2022-05-11-12-08-13_d435_gray.bag --models pinhole-radtan pinhole-radtan --topics /cam0/image_raw /cam1/image_raw
=> ImportError: No module named pyx
==>> sudo apt-get install python-pyx
=> source devel/setup.bash
cd ~/oak_ws/src/luxonis/depthai-ros
sudo ./install_dependencies.sh
cd ~/oak_ws/
catkin_make --cmake-args -D depthai_DIR=/home/rajendra/oak_ws/depthai
roslaunch depthai_examples stereo_node.launch
After downloading QGC.Image
sudo usermod -a -G dialout $USER
sudo apt-get remove modemmanager
rosdep: command not found
sudo apt install python-rosdep
https://robots.uc3m.es/installation-guides/install-realsense2.html
source devel/setup.bash && roslaunch vins vins_rviz.launch
source devel/setup.bash && rosrun vins vins_node ~/drone_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml /vins_estimator/odometry:=/camera/odom/sample
source devel/setup.bash && rosbag play bagfiles/MH_04_difficult.bag
roslaunch px4_realsense_bridge bridge_mavros_sitl.launch
./QGroundControl.AppImage
https://github.com/HKUST-Aerial-Robotics/FUEL
source devel/setup.bash && roslaunch exploration_manager rviz.launch
source devel/setup.bash && roslaunch exploration_manager exploration.launch
