# YCH_drone
This is a side project about Px4 on Gazebo
當前版本：1.0.0

* 連結:

* < 主要安裝參考 > 無人機自動駕駛軟件系列 E01：OFFBOARD控制以及Gazebo仿真

https://gaas.gitbook.io/guide/software-realization-build-your-own-autonomous-drone/wu-ren-ji-zi-dong-jia-shi-xi-lie-offboard-kong-zhi-yi-ji-gazebo-fang-zhen

* < 官方安裝教學 > PX4 ROS

https://docs.px4.io/main/zh/ros/ros1.html

* < PX4 飛控介紹 >

https://docs.px4.io/v1.12/zh/getting_started/px4_basic_concepts.html

* 參考文件：https://github.com/danielyugoodboy/NCRL-AIDrone-Platform/tree/master/src
* 飛行模式：https://docs.px4.io/main/zh/getting_started/flight_modes.html
* MAVROS Basics: http://edu.gaitech.hk/gapter/mavros-basics.html
* MAVROS_Tutorial: https://masoudir.github.io/mavros_tutorial/

## 0. 電腦配置
* Ubuntu 18.04
* ROS melodic
* python=3.9 (推薦)

## 1. 安裝教學
### 1-1. 安裝ROS

* 請直接參考 http://wiki.ros.org/ROS/Tutorials 中，1.Core ROS Tutorials -> 1.1 Beginner Level -> 1. Installing and Configuring Your ROS Environment 的安裝介紹安裝melodic的版本。

### 1-2. 安裝之後步驟所需之依賴

* 安裝 python 工具

    $ sudo apt install -y \
        ninja-build \
        exiftool \
        python-argparse \
        python-empy \
        python-toml \
        python-numpy \
        python-yaml \
        python-dev \
        python-pip \
        ninja-build \
        protobuf-compiler \
        libeigen3-dev \
        genromfs 

    $ pip install \
        pandas \
        jinja2 \
        pyserial \
        cerberus \
        pyulog \
        numpy \
        toml \
        pyquaternion

    $ pip install empy
    $ pip3 install empy

* 安裝 catkin-tools & rosinstall

    $ sudo apt-get install python-catkin-tools python-rosinstall-generator -y

### 1-3. 創建工作環境

* 建立workspace

    $ mkdir -p ~/drone_ws/src
    $ cd ~/drone_ws/
    $ catkin init && wstool init src

* 安裝 mavlink mavros

    $ rosinstall_generator --rosdistro melodic mavlink | tee /tmp/mavros.rosinstall
    $ rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
    $ wstool merge -t src /tmp/mavros.rosinstall
    $ wstool update -t src -j4
    $ rosdep install --from-paths src --ignore-src -y

* 安装geographic lib :

    $ sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh
    $ sudo apt install ros-melodic-catkin python-catkin-tools

* 編譯

    $ catkin build

### 1-4. 安裝 PX4 韌體

* 安裝

    # 下載px4
    $ cd ~/drone_ws/src
    $ git clone https://github.com/PX4/Firmware.git

    # 編譯
    $ cd Firmware
    $ git checkout v1.8.0
    $ make posix_sitl_default gazebo

* 編譯完成後會出現以下畫面，點x關閉即可

* 增加環境變數

    $ nano ~/.bashrc

* 將以下內容貼到最下面，並且存檔退出

    source ~/drone_ws/devel/setup.bash
    source ~/drone_ws/src/Firmware/Tools/setup_gazebo.bash ~/drone_ws/src/Firmware/ ~/drone_ws/src/Firmware/build/posix_sitl_default
    export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/drone_ws/src/Firmware
    export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/drone_ws/src/Firmware/Tools/sitl_gazebo

* source 環境

    $ source ~/.bashrc

### 1-5. 建立YCH_drone環境包

#### 從github下載

* 下載 (下載下來的預設 branch 是 master 請更改 branch)

    $ cd ~/drone_ws/src/
    $ git clone https://github.com/danielyugoodboy/YCH_drone.git
    $ cd ~/drone_ws/
    $ catkin build YCH_drone --no-deps

### 1-6 執行
* 有一些額外的東西需要安裝

    # 1. Install openCV
    $ pip install opencv-python

    # 2. Install ros_numpy
    $ cd
    $ git clone https://github.com/eric-wieser/ros_numpy.git
    $ cd ros_numpy/
    $ python3 setup.py install

* 修改無人機中的相機角度與位置(自行選擇要不要修改)

設定檔案在： drone_ws/src/Firmware/Tools/sitl_gazebo/models/iris_fpv_cam/iris_fpv_cam.sdf

修改如下：

    <?xml version='1.0'?>
    <sdf version='1.5'>
    <model name='iris_fpv_cam'>

        <include>
        <uri>model://iris</uri>
        </include>

        <include>
        <uri>model://fpv_cam</uri>
        <pose>0 0 0 0 0.2 0</pose>
        </include>
        <joint name="fpv_cam_joint" type="fixed">
        <child>fpv_cam::link</child>
        <parent>iris::base_link</parent>
        <axis>
            <xyz>0 0 1</xyz>
            <limit>
            <upper>0</upper>
            <lower>0</lower>
            </limit>
        </axis>
        </joint>

    </model>
    </sdf>

#### A. Single Drone

* 開啟一個終端 - 開啟gazebo環境

    $ roslaunch YCH_drone start_Enviroment_1_single_drone.launch


* 另外開啟一個終端 - 啟動執行檔

a. KeyBoard control

    $ cd ~/drone_ws/src/YCH_drone/src/python
    $ python pj01_keyboard_control.py


b. Gym Envirom

    $ cd ~/drone_ws/src/YCH_drone/src/python
    $ python pj02_gym_control.py


* 另外開啟一個終端 - 確認是否有連接上mavros, 非必要僅用來檢查狀態

    $ rostopic echo /mavros/state


#### B. Multi Drone

* 開啟一個終端 - 開啟gazebo環境

    $ roslaunch YCH_drone start_Enviroment_2_multi_drone.launch


* 另外開啟一個終端 - 啟動執行檔

    $ cd ~/drone_ws/src/YCH_drone/src/python
    $ python pj04_multi_gym_control.py


#### C. VTOL
* 開啟編譯

    $ cd ~/drone_ws/src/Firmware
    $ make posix_sitl_default gazebo_standard_vtol

* 操控

    commander takeoff
    commander transition
    commander land


## 2. 實體無人機
### 2-1. 嵌入式系統開發版:

* Raspberry Pi 3

* Raspberry Pi 4


* UP board:
https://24h.pchome.com.tw/prod/DSAJ2B-A900F5ZK6

* UP 4000:
https://up-board.org/up-4000/

* JETSON XAVIER NX

### 2-2. 實機操作
* 所有設備

* 裝槳順序


* 電池充電
* 充電器沒有接上插座之前，不要把電池接上充電器，不然會回充
* 一定要接上分壓板，不然離電池的電壓會不穩定
* 遙控器電池充電的電流為：0.5A~1A
* 無人機電池充電的電流為：3A~5A

## 3. Git 筆記

* 1. 安裝Git

* 2. 本地端註冊

    $ git config --global user.name "YuChiaHao"
    $ git config --global user.email "[e-mail]"

* 3. 初始化

    # 移動到要進行git管理的資料夾底下
    $ git init

* 4. 查看git管理狀態

    $ git status

* 5. 將更動過得檔案加入git索引

    $ git add .

* 6. 將加入到索引的檔案提交到本地端數據庫

    $ git commit -m "2022/11/15 Initial file"

* 7. 下載 GitKraken https://www.gitkraken.com/

## 4. Ros 筆記
教學 ： http://wiki.ros.org/ROS/Tutorials
建議閱讀章節:

1. Installing and Configuring Your ROS Environment
2. Navigating the ROS Filesystem
3. Creating a ROS Package
4. Building a ROS Package
5. Understanding ROS Nodes
6. Understanding ROS Topics
8. Using rqt_console and roslaunch
11. Writing a Simple Publisher and Subscriber (C++)
12. Writing a Simple Publisher and Subscriber (Python)
13. Examining the Simple Publisher and Subscriber


1. rospack
rospack allows you to get information about packages. In this tutorial, we are only going to cover the find option, which returns the path to package.

$ rospack find [package_name]

2. roscd
roscd is part of the rosbash suite. It allows you to change directory (cd) directly to a package or a stack.

$ roscd <package-or-stack>[/subdir]

3. 建立package需要注意：
Building a catkin workspace and sourcing the setup file

4. Quick Overview of Graph Concepts
* Nodes: A node is an executable that uses ROS to communicate with other nodes.

* Messages: ROS data type used when subscribing or publishing to a topic.

* Topics: Nodes can publish messages to a topic as well as subscribe to a topic to receive messages.

* Master: Name service for ROS (i.e. helps nodes find each other)

* rosout: ROS equivalent of stdout/stderr

* roscore: Master + rosout + parameter server (parameter server will be introduced later)

5. 建立python node的時候,記得要把檔案改成可執行,不然rosrun會找不到

chmod +x talker.py