HEIFU Repository

Pre-requisites

Install ROS acording to your distribuiton:

ROS Instalation page can be found here.

Install all dependencies:

sudo apt install python-catkin-tools
sudo apt install -y ros-$ROS_DISTRO-joy ros-$ROS_DISTRO-joy-teleop ros-$ROS_DISTRO-mavlink libgeographic-dev ros-$ROS_DISTRO-geographic-msgs gdal-bin libgdal-dev wget geographiclib-tools libgeographic-dev gstreamer1.0-tools libgstreamer1.0-dev
wget https://gitlab.pdmfc.com/drones/ros1/heifu/-/raw/master/heifu_scripts_firmware/loader.py
sudo cp loader.py /opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages/roslaunch/
rm loader.py

Installation

NOTE: It's recommended too add a SSH key to your gitlab account.

Start by cloning

cd <your_workspace_path>/src
git clone -b newVersion [email protected]:drones/ros1/heifu-uav/heifu.git
cd heifu
git submodule update --init --recursive

Compile your workspace

Run the script in:

sudo ./control/mavros/mavros/scripts/install_geographiclib_datasets.sh

In case that GPU is NOT present or NOT wanted to be used:

• catkin config --blacklist collision_avoidance gpu_voxels_ros planner planners_manager rrt

Follow instructions on packages:

• interface/gcs-interface
• sensing/gpu_voxels_ros (ignore if last step was taken)

At last, compile your workspace:

catkin build

Source Your Workspace:

echo 'source <your_workspace_path>/devel/setup.bash' >> ~/.bashrc
source ~/.bashrc

HELP - How to get going

roslaunch heifu-bringup heifu_bringup.launch argVehicle:="heifu" argID:=0 argSimulation:=false

Package description

GCS Interface: Interface for converting commands and information from and to a remote control station, respectively.

Waypoint Manager: Reads mission files from the UAV and sends them to the respective nodes. Allows following a mission in guided mode.

GNSS Utils: Auxiliary to the Waypoints manager package. Converts global coordinates to local coordinates.

Planners: Responsible for finding a collision-free path to the desired waypoint.

Collision Avoidance: Deals with the information from the perception sensors and ensures the safety of the UAV.

Priority Manager: Receives all setpoints from the respective packages. Responsible for managing the priorities of each package, sending always the command with the highest priority to the navigation controller.

Mavros Commands: Responsible for general flight commands handling, such as takeoff, land, and mode changes.

Navigation Controller: Responsible for controlling and completing given waypoints. Can be used with position setpoints or velocity setpoints. Guarantees that the requested position is achieved. Can receive a velocity bypass setpoint.

Mavros: Responsible for the comunication between ROS and the flight controller firmware. Uses the MAVlink protocol.