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uzh-rpg / rpg_public_dronet

Code for the paper Dronet: Learning to Fly by Driving
MIT License
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CPU Board attached to the Bebop drone #19

Open mandelyoni opened 6 years ago

mandelyoni commented 6 years ago

Hi,

Which CPU Board is recommended to attach to the Bebop drone for running the net? If available, please share a link.

Thank you.

antonilo commented 6 years ago

Hi, We are using the Intel UpBoard (https://up-shop.org/27-up) for onboard computation.

mandelyoni commented 6 years ago

Thank you for the prompt response. By the way, are you going to sell the small docking board with Dronet for the crazyflie soon?

antonilo commented 6 years ago

We do not plan to sell it since we are still in development phase. While the board can be already purchased, the integrated system will follow in the (hopefully) near future.

mandelyoni commented 6 years ago

Hi, thanks for your answer. Which board, did you mean, can already be purchased? Is it straight forward to implement the the Dronet on it?

antonilo commented 6 years ago

The PULP board that runs dronet in Ultra-low power can already be purchased. Implementation of the algorithm that is highly non-trivial, but we are currently on it. We will soon share our findings and implementation.

mandelyoni commented 6 years ago

Hi Antonilo,

Can you please share an explanation/description of how to connect the Up-board to the Bebop2?

Thanks, Yoni

antonilo commented 5 years ago

I would argue that the easier way to do it is using ROS. This is however not the only one and for sure not the best one in term of performance.

mandelyoni commented 5 years ago

Thanks, but I meant how connect the Up-Board physically to the drone (power and communication)?

Thanks again, Yoni

antonilo commented 5 years ago

We have an external battery to power the Up-Board and communication happens via WiFi and ROS. Hope this helps!

mandelyoni commented 5 years ago

Hi Antonilo,

Is there a big difference in the performance between running the algorithms on the UpBoard or on a laptop ? In most of your videos we didn't see the UpBoard connected to your drone? Can you please explain why?

Thank you, Yoni.

antonilo commented 5 years ago

In the original dronet video, computation was done off-board in a laptop. In our last projects, all computation has been shifted to fully on-board: Deep Drone Racing, Beauty and the Beast. The minimum inference time required to give good behavior is generally 8-10Hz.

mandelyoni commented 5 years ago

Hi Antonio, In your paper, DroNet: Learning to Fly by Driving, in Table 3, you make a comparison with Gandhi et al. Did you also implement their algorithm? Thank you, Yoni

antonilo commented 5 years ago

Yes, we've re-implemented their algorithm as described in the paper.

mandelyoni commented 5 years ago

Ok, thank you.

mandelyoni commented 5 years ago

Hi Antonio, Did you run Ubuntu 16.04 with ROS on the Upboard? Is the simple version of the board adequate (https://up-shop.org/up-boards/272-up-board.html)? Thanks, Yoni