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hybridgroup / artoo

Ruby framework for robotics, drones, and the Internet of Things (IoT)
http://artoo.io
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Could I use this with openpilot.org #104

Open prussiap opened 10 years ago

prussiap commented 10 years ago

Hey Guys, I used your artoo with both a raspberry pi and a ar.drone we had laying around. I'm thinking of building a new quad with my recently bought openpilot revolution board. It's opensource and has a nice Ground Control Software (GCS). Ideally if I could get artoo working with the openpilot I could automate and do some fun experiments with indoor navigation (using a pixycam for indoor navigation).

I envision two ways of doing this:

  1. Connect a raspberry pi to the openpilot and have it chat via usb/i2c to get telemetry data and then control it. This gives me the power of using a laptop or ipad to number crunch or for manual control with a joystick to the raspberr pi.
  2. I could somehow try to use artoo natively and send controls via laptop/joystic to the openpilot to do visual recognition and indoor navigation.

In either case I feel like I will need to roll my own or write some Artoo drivers/wrappers to control and interface with the openpilot revo board.

I could use some help via your commulated experience porting devices to artoo. This seems like too much of a mountain to climb for one person on his/her spare time.

openpilot website is here: http://store.openpilot.org/home/19-openpilot-revolution-kickstarter.html

I'm also thinking of getting the oplink which oudl let me communicate with laptop and GCS directly.

I didn't know where else to post these thoughts and ask for help so feel free to move discussion to somewhere else that might be more appropriate.

deadprogram commented 10 years ago

This looks like a really cool idea. Also, it sounds like you have the right approach overall. We do not currently have this specific hardware, but we can certainly help get you unstuck!

prussiap commented 10 years ago

Hi, Thanks for feedback. Still not sure which is the best approach as I doubt the Raspi is fast enough to make any real decisions, just the basics of roll/yaw. etc.. but not reactively.

I got some feedback from Taulabs: http://forum.taulabs.org/viewtopic.php?f=18&t=102&sid=3601852a1074ba40ad56a0374d639b02&start=10

looks like there is a way either via i2c or though the openlinkmodem directly to send UDP packets that are read by the Revo. So it's one way but I guess that's a start.

What is the best conceptual approach to this regarding adding an openpilot as an Artoo "device". Would it just be something we speak to ? Like the raspberry Pi ? Will I need to read all the sensors from the flight controller for more robotics ? I'd like to create some stories and break this apart into bite size pieces I can then time slice.

A matlab example also: http://wiki.openpilot.org/display/Doc/GCS+UDP+Control+Plugin

I got my Revo and can connect to it, next is to get the rest of the parts and do some test flying, then continue on to setting up the raspberry pi or artoo framework to start testing.

I'd love some more detailed help on how to approach this? Do you guys have an IRC channel or forum I can join ?

Thanks again. It would be nice to have these Boards as individual robots, then Swarm a few together and automate the process with Artoo

solojavier commented 10 years ago

@prussiap the irc channel is #artoo on freenode