DroneSys

DroneSys is a ROS 1 based system for MAV navigation, sensing and control, compatible with the PX4 Autopilot system via MavLink protocol. It consists of several modules: Driver, Control, Planning, Perception, SLAM and Mavros interface.

Video Links:

More demonstrations in the gazebo physical simulation environment: 2dLidar, 3dLidar, Camera
More comparisons: comparison_1, comparison_2, comparison_3

Please kindly give us a star :star:, if you find this work useful or interesting. We take great efforts to develope and maintain it, thanks!:grinning:

Setup and Config
Run Simulations

1. Setup and Config

Prerequisites

Our software is developed and tested in Ubuntu 16.04(ROS Kinetic), 18.04(ROS Melodic) and 20.04(ROS Noetic). Follow the documents to install Kinetic, Melodic or Noetic according to your Ubuntu version. (ATTENTION! If you want also to install Noetic onto Ubuntu 22.04(Jammy), you could also refer to Jammy-Noetic.)

sudo apt install ros-noetic-ros-base ros-noetic-gazebo-ros ros-noetic-mavlink geographiclib-tools libgeographic-dev libgeographic19 ros-noetic-geographic-msgs ros-noetic-eigen-conversions ros-noetic-gazebo-plugins ros-noetic-camera-info-manager ros-noetic-velodyne-gazebo-plugins ros-noetic-octomap-rviz-plugins ros-noetic-xacro ros-noetic-tf2-ros ros-noetic-tf2-eigen ros-noetic-tf ros-noetic-cv-bridge libarmadillo-dev ros-noetic-rviz ros-noetic-pcl-ros ros-noetic-hector-trajectory-server ros-noetic-octomap ros-noetic-octomap-msgs ros-noetic-image-transport ros-noetic-image-transport-plugins ros-noetic-ddynamic-reconfigure ros-noetic-vrpn-client-ros ros-noetic-roslint cmake libdw-dev libusb-dev libspnav-dev libbluetooth-dev libgtk2.0-dev flex bison byacc python2.7-dev python ros-noetic-random-numbers ros-noetic-tf-conversions libsuitesparse-dev ros-noetic-rviz-imu-plugin libv4l-dev v4l-utils

    sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
    sudo rosdep init
    rosdep update

    echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
    source ~/.bashrc

We use NLopt as the optimization solver in Histo-planner to solve the non-linear optimization problem, which can be installed by the following commands.
```
git clone https://github.com/stevengj/nlopt.git
cd nlopt && mkdir build && cd build  
cmake ..  
make & sudo make install 
```

Ceres is depended by VINS to solve the non-linear optimization problem, which can be installed by the following commands.

sudo apt-get install cmake libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev 
wget https://github.com/ceres-solver/ceres-solver/archive/refs/tags/2.1.0.zip
unzip 2.1.0.zip && rm 2.1.0.zip
cd ceres-solver-2.1.0
mkdir build && cd build
cmake ..
make
sudo make install

The DroneSys has been tested to communicate with PX4 via the mavlink protocol. In order to test the complete DroneSys, we need to install the PX4 system.

git clone https://github.com/w407022008/Firmware_PX4_v1.14.2.git --depth 1 PX4_v1.14.2 --recursive
cd PX4_v1.14.2
git tag v1.14.2
sudo bash Tools/setup/ubuntu.sh
# Restart the computer on completion. And then
cd PX4_v1.14.2 && sudo make px4_sitl_default gazebo

Any error, please refer to PX4 official installation.

Installing RealSense SDK: Here we offer two modified SDK which allocates images with or without emitters for depth and visual localization, and fixes the default transfer rate of 30hz instead of 15hz when using a USB 2.0 interface. i.e. librealsense_v2.50.0, librealsense_v2.55.1

sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at
## A modified LibRealSense v2.50.0 for example, which matchs with realsense-ros v2.3.2:
git clone https://github.com/w407022008/librealsense-2.50.0.git librealsense-2.50.0

cd librealsense-2.50.0
./scripts/setup_udev_rules.sh
mkdir build && cd build

sudo apt install xorg-dev libglu1-mesa-dev ## if missing RandR
sudo apt install libusb-1.0-0-dev ## if missing config.h

cmake ../ -DFORCE_RSUSB_BACKEND=true -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=true
sudo make uninstall && make clean && make && sudo make install

# test it, if you want
realsense_viwer

Installing ORB-SLAM3 and its dependencies: ORB-SLAM3 without Pangolin is already supported in DroneSys, so the installation is not needed.

Build the DroneSys on ROS

After the prerequisites are satisfied (including: ROS, NLOpt, Ceres, PX4, RealSense SDK), you can now clone this repository to any expected path.

  git clone https://github.com/w407022008/DroneSys.git
  curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | sudo bash

Build it! (ATTENTION: If you install Noetic onto Ubuntu 22.04, run firstly bash Ubuntu22_dependency_modification.bash.)

  ./compile_try.sh # compile all packages to the current path

Add the following into ~/.bashrc:

export PATH="/usr/lib/ccache:$PATH"
source ~/src/DroneSys/devel/setup.bash
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:~/src/DroneSys/devel/lib
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/src/DroneSys/Simulator/gazebo_simulator/models
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/src/DroneSys/Simulator/gazebo_simulator/drone_models
source ~/src/PX4_v1.14.2/Tools/setup_gazebo.bash ~/src/PX4_v1.14.2 ~/src/PX4_v1.14.2/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/src/PX4_v1.14.2
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/src/PX4_v1.14.2/Tools/sitl_gazebo

If you encounter problems in this step, please first refer to existing issues, pull requests and Google before raising a new issue.

Known compilation issue

Joystick is needed. You may encounter the following problems when you compile the Driver/joystick_drivers. Please make sure the following packages are installed.

  libusb-dev # if missing libusb
  libspnav-dev # if missing spnav.h
  libbluetooth-dev # if missing bluetooth.h

  # if missing cwiid.h:
  git clone https://github.com/abstrakraft/cwiid.git
  cd cwiid
  aclocal
  autoconf
  ./configure
  ## if missing pakcage gtk2.0:
    sudo apt install libgtk2.0-dev
  ## if missing flex:
    sudo apt install flex
  ## if missing bison:
    sudo apt install bison byacc
  ## if missing python.h:
    sudo apt install python2.7-dev
  make
  ## if there is an error about wmdemo
    # ignore it and go ahead
  sudo make install

  # if missing libdw.h
  sudo apt install libdw-dev

2. Run Simulations

Run our planner and the Gazebo simulation platform with roslaunch:

  source ~/.bashrc
  roslaunch simulation_gazebo sitl_histo_planner.launch

Normally, you will find the randomly generated map and the drone model in Rviz. At this time, you can trigger the planner using the 3D Nav Goal tool. When a point is clicked in Rviz, a new trajectory will be generated immediately and executed by the drone.

Acknowledgements

The DroneSys is built with reference to Prometheus.

Licence

The source code is released under GPLv3 license.

Disclaimer

This is research code, it is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of merchantability or fitness for a particular purpose.

w407022008 / DroneSys

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