robotics-resources

=============== UAV-Planners ===============

Fast-Planner: git, Beomsu's PX4, Mzahana's PX4

Ego-planner: git; Ego-planner-swarm: code

Agile_autonomy: git

Panther: Git, Youtube, Our_implimentation; Paper

mader: git

faster: Git

sb_min_time_quadrotor_planning: Git

kr_autonomous_flight: Git

=============== VIO ===============

Vins-Fusion: git, Mzahana’s Jetson docker

=========== SLAM ===========

RTABMap: Orignal_git, drone version

ORB_SLAM2: git

=========== MAVROS ===========

Getting Started with PX4 Mavros: Instructions

Getting Started with Ardupilot Mavros: Instructions, all

QGC: Installation

Mission Planner: Installation

MAVSDK-Python: git_installation

How to add a ROS camera to IRIS for gazebo simulation? answer

Some simple mavros scripts: Matny’s git

=========== Flight Controller ===========

Ardupilot

Youtube Tutorials

Note:

Short the pin for in-built compass

=========== Control System ===========

data-driven-dynamics: ETH Git Code

=========== GUI ===========

List of Web Tools for ROS Robots: blog/web page

=========== IOD ===========

ROSLink: git

CloudStation: Git, Tutorial

SDS: AWS Blog

UG-One: Git

WebODM: Git

ros_dronemap: Git

drone-cloud-platform3.0: Git

Cloud-Controlled-4GLTE-Drone-GCS: Git

Dronekit/tower-web: Git

GCS-uno: Git, Tutorial, Git

cloudgroundcontrol

cloudcitydrones

Azure Cloud Services for DJI Drones: blog

=========== Drone Specific ===========

Tello: modules and resources(Droneblocks), ORB for tello, driver, ros_pkg

Clover: About, Setup

=========== Courses ===========

Aerial Robotics Course from HKUST: drive

=========== Computer Vision ===========

--------- Object Detection ---------

Yolo: v3(web, github), v4, YoloX, YoloR, Yolov6([blog1](https://blog.roboflow.com/yolov6/

Usecase:

Construction(1,2,3,4)

Helmet-Detection

Data: kaggle, 2, 3(audio), 4 & 5(Game)

Test Video - 1, 2, 3

Paper: 1

Github: all, 1, 2, 3, 4

Fire: 1,2,3, 4

Leaf Health and Disease: Data[1,2,3,4], Paper[1,2,3,4], Test Video[1,2,3,4], Code[Git, 1,2,3_matlab,4, 5 more]

Object counting: one-tab

--------- Object Tracking ---------

Blogs: #1, #2, #3, #4

Sort: Git, Paper

Deep-Sort: Git, Paper

ByteTrack: Git, Paper

Kalman-Filter: Blog, Library, Paper, Code & Explaination - Recommended

=============================================

ROS DRONE Package Installation, Debuging and Runing

=============================================

===Install Mavros and relavent Packages===

Binary

sudo apt-get install ros-$ROS_DISTRO-mavros ros-$ROS_DISTRO-mavros-extras 
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh 
sudo bash ./install_geographiclib_datasets.sh 

Or from Source

=> https://github.com/mavlink/mavros 
git clone https://github.com/mavlink/mavros.git 

ERROR: missing geometric_controller or mavros_controllers

???

------------ Mavros/PX4-Autopilot debuging ------------

e.g unable to take off
rosrun mavros checkid
rostopic echo /mavros/state
rostopic echo -n 1 /mavros/state
rostopic echo -n 1 /diagnostics

ERROR: Unknown model iris_depth_camera (not found by name on

=== Building PX4-Autopilot (Ubuntu18) ===

cd /home/rajendra/
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
cd PX4-Autopilot/ 
DONT_RUN=1 make px4_sitl_default gazebo

Error 1. No module future in "from future import standard_library"

Error 2. No delopment/mavlink.h

Error 3. submodule changed=> y(to run with this version)

Error 4.?? Check requirments

Error 5. CMake Error: GSTREAMER_APP_LIBRARIES Variable NOTFOUND.

Error 5. UAS: GeographicLib exception: File not readable /usr/share/GeographicLib/geoids/egm96-5.pgm.

sudo ./mavros/scripts/install_geographiclib_datasets.sh

cd PX4-Autopilot/
DONT_RUN=1 make px4_sitl_default gazebo
source ~/catkin_ws/devel/setup.bash # (optional)
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
roslaunch px4 posix_sitl.launch

------------ Universal Source technique

source ~/.bashrc
source /opt/ros/noetic/setup.bash
source ~/drone_ws/devel/setup.bash
source ~/PX4-Autopilot/Tools/setup_gazebo.bash ~/PX4-Autopilot ~/PX4-Autopilot/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot/Tools/sitl_gazebo

------------

=========== PX-Avoidance ===============

cd PX-Avoidance
roslaunch local_planner local_planner_stereo.launch 
rosrun mavros mavsys mode -c OFFBOARD
rosrun mavros mavsafety arm
rosrun mavros mavsys mode -c OFFBOARD

============= Ardupilot ===============

Linux

built

configure

run

sim_vehicle.py --console --map 
/home/rajendra/drone_ws/ardupilot/Tools/autotest/sim_vehicle.py -v ArduCopter --no-extra-ports -I 0 --out=udp:54.161.56.169:14550
/home/rajendra/drone_ws/ardupilot/Tools/autotest/sim_vehicle.py -v ArduCopter --console --map --no-extra-ports -I 0 --out=udp:54.161.56.169:14550

============= Orignal fast-planner ==============

T1

T2

=============== Beomsu7's fast-planner =================

T1

T2

T3

Give the goal in rviz

================ Mzahana's fast-planner =================

T1

T2

rostopic pub --once /move_base_simple/goal geometry_msgs/PoseStamped "header:
 seq: 0
 stamp:
 secs: 0
 nsecs: 0
 frame_id: ''
pose:
 position:
 x: 19.0
 y: 15.0
 z: 3.0
 orientation:
 x: 0.0
 y: 0.0
 z: 0.0
 w: 1.0"

Error: inotify_add_watch("/home/rajendra/.config/ibus/bus/cf071f50b0c74016a868d5634bb32107-unix-0") failed: "No space left on device"

echo fs.inotify.max_user_watches=65536 | sudo tee -a /etc/sysctl.conf && sudo sysctl -p
https://askubuntu.com/questions/1088272/inotify-add-watch-failed-no-space-left-on-device 
https://blog.csdn.net/Changer_sun/article/details/79212313

============ Fast Planner ERROR ===========

Triggered!
[TRIG]: from WAIT_TARGET to GEN_NEW_TRAJ
[kino replan]: -----------------------
start: -0.0112145 -0.00287183 -0.00545828, -0.00900632 -0.00325972 -0.0105637, 0 0 0
goal:0 0 1, 0 0 0
[fast_planner_node-2] process has died [pid 99980, exit code -11, cmd /home/rajendra/drone_ws/devel/lib/plan_manage/fast_planner_node /odom_world:=/mavros/local_position/odom /sdf_map/odom:=/mavros/local_position/odom /sdf_map/cloud:=/pcl_render_node/cloud /sdf_map/pose:=/mavros/local_position/pose /sdf_map/depth:=/d435/depth/image_rect_raw __name:=fast_planner_node __log:=/home/rajendra/.ros/log/cf8b4932-4483-11ec-a2f0-cf1b4db027f8/fast_planner_node-2.log].
log file: /home/rajendra/.ros/log/cf8b4932-4483-11ec-a2f0-cf1b4db027f8/fast_planner_node-2*.log

=================== Vins-fusion ============

---------- Run ----------

---------- Run with Bagfile ----------

cd drone_ws/
### Open 4 terminals, and run each.
source devel/setup.bash && roslaunch vins vins_rviz.launch 
source devel/setup.bash && rosrun vins vins_node ~/drone_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml 
source devel/setup.bash && rosrun loop_fusion loop_fusion_node ~/drone_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml 
source devel/setup.bash && rosbag play bagfiles/MH_04_difficult.bag 

---------- Run with Realsense d435 ----------

source devel/setup.bash && roslaunch vins vins_rviz.launch 
source devel/setup.bash && rosrun vins vins_node ~/drone_ws/src/VINS-Fusion/config/realsense_d435i/realsense_stereo_d435_config.yaml 
source devel/setup.bash && rosrun loop_fusion loop_fusion_node ~/drone_ws/src/VINS-Fusion/config/realsense_d435i/realsense_stereo_d435_config.yaml 
source devel/setup.bash && roslaunch vins rs_camera_d435.launch 

---------- Vins Installation & Error ----------

1. Clone

cd ~/drone_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git
cd ../

2. Download and Install ceres-solver

sudo apt-get install cmake 
sudo apt-get install libgoogle-glog-dev libgflags-dev 
sudo apt-get install libatlas-base-dev 
sudo apt-get install libeigen3-dev 
sudo apt-get install libsuitesparse-dev 
http://ceres-solver.org/ceres-solver-2.0.0.tar.gz
cp ~/Downloads/ceres-solver-2.0.0.tar.gz .
tar zxf ceres-solver-2.0.0.tar.gz
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-2.0.0
make -j3
make test
sudo make install

3. Build

4. Errors(Ubuntu20.04)

if error: /usr/include/eigen3/Eigen/SVD:35:10: fatal error: src/SVD/UpperBidiagonalization.h: No such file or directory

i.e missing /usr/include/eigen3/Eigen/src/SVD UpperBidiagonalization.h
pkg-config --modversion eigen3 
=> sudo apt install libeigen3-dev --reinstall #even if to newest version still reinstall

error: ‘integer_sequence’ is not a member of ‘std’

https://github.com/colmap/colmap/issues/905
https://programmerah.com/solved-ceres-compile-error-integer_sequence-is-not-a-member-of-std-31728/
https://stackoverflow.com/questions/17424477/implementation-c14-make-integer-sequence
My ErrorLog.txt => https://gist.github.com/iamrajee/6e43d88e65214f2fa96a30d3dcb365bb
Solution (c++11 => c++14) in:
cd ~/drone_ws/src/VINS-Fusion
code camera_models/CMakeLists.txt 
code global_fusion/CMakeLists.txt 
code loop_fusion/CMakeLists.txt 
code vins_estimator/CMakeLists.txt 

Error: Segmentation Fault

rosrun vins vins_node ~/drone_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml
=> Segmentation Fault
https://github.com/HKUST-Aerial-Robotics/VINS-Fusion/issues/134
https://github.com/HKUST-Aerial-Robotics/VINS-Fusion/issues/106#issuecomment-864415677
https://github.com/mrdavoodi/VINS-Fusion/commits/master
cd ~/drone_ws/src/VINS-Fusion
code camera_models/include/camodocal/calib/CameraCalibration.h
https://github.com/mrdavoodi/VINS-Fusion/commit/0e50050be32a8a5292b862fa86a605e3adf6761e 
code camera_models/include/camodocal/camera_models/Camera.h
https://github.com/mrdavoodi/VINS-Fusion/commit/fc3f3ccd1786dec1fe73baeb2900a8992ee3cc65 
code camera_models/include/camodocal/chessboard/Chessboard.h
https://github.com/mrdavoodi/VINS-Fusion/commit/0461b57850d5b5393b9476950f883178670a71b9 
code loop_fusion/src/ThirdParty/DVision/BRIEF.h
https://github.com/mrdavoodi/VINS-Fusion/commit/37144c454117092baac22818caf9c8e33c7e66f0 

ERROR: fatal error: opencv2/imgcodecs/legacy/constants_c.h: no such file or directory ros

Because using old version of opencv 
https://github.com/opencv/opencv/issues/13201 
https://github.com/opencv/opencv/pull/13253/commits/562676c5dae4d25b00f88556bd8de99330d4e484 
https://github.com/raulmur/ORB_SLAM2/issues/782 
https://answers.ros.org/question/225229/error-opencv2imgcodecshpp/ 
#### Solution 1. Tried didn't work
cd /usr/include/opencv/modules/imgcodecs/include/opencv2/imgcodecs
sudo cp -r /usr/include/opencv4/opencv2/imgcodecs/legacy .
(But have to build again so aborded => mv legacy/ .legacy/)
#### Solution 2. Changing CV bridge opencv version older(3 or opencv) to newer(4)
cd /opt/ros/noetic/share/cv_bridge/cmake
code cv_bridgeConfig.cmake
=> din't work
#### Simple =>? removing that inclusion (#include "opencv2/imgcodecs/legacy/constancts_c.h").
Doesn;t either Works?

fatal error: development/mavlink.h: No such file or directory

https://github.com/PX4/PX4-SITL_gazebo/issues/823
cd ~/px4_ws/src/PX4-SITL_gazebo
git checkout 6fa6ec78a7a1619b7b90ac0c01aaec919defbe35

[100%] Linking CXX executable /home/rajendra/drone_ws/devel/lib/vins/vins_node
/usr/bin/ld: warning: libopencv_video.so.4.2, needed by /home/rajendra/drone_ws/devel/lib/libvins_lib.so, may conflict with libopencv_video.so.3.4
[100%] Built target vins_node

ERROR: Tree not connect! (In this file to work with fast planer)

Changing Frame: "world" => "map"
code vins_estimator/src/utility/visualization.cpp 
code vins_estimator/src/estimator/estimator.cpp 
code loop_fusion/src/pose_graph.cpp 
code loop_fusion/src/pose_graph_node.cpp 
code global_fusion/src/globalOpt.cpp 
code global_fusion/src/globalOptNode.cpp 

========== rtab drone examples ===========

cd drone_ws/src 
https://github.com/matlabbe/rtabmap_drone_example 
git clone https://github.com/matlabbe/rtabmap_drone_example.git 
git clone https://github.com/SyrianSpock/realsense_gazebo_plugin.git 
cd ../ 
./rosdep 
sudo apt install ros-noetic-teleop-twist-joy 
sudo apt install ros-noetic-imu-complementary-filter 
catkin_make 
roslaunch rtabmap_drone_example gazebo.launch 
roslaunch rtabmap_drone_example rviz.launch 
roslaunch rtabmap_drone_example slam.launch 
rosrun rtabmap_drone_example offboard 
??
rosrun teleop_twist_keyboard teleop_twist_keyboard.py 

===== Malintha rrt algo(Not Important) ======

=> https://github.com/Malintha, https://github.com/malintha/rrt-ros 
roscore 
rosrun rrt-planning rrt 
rosrun rviz rviz #add mark from available topic 

=============== XTDrone ============

Repo; README; Docs; Paper1; Paper2; OneTab

sudo apt install ros-melodic-mavros-extras 
sudo apt install ninja-build exiftool ninja-build protobuf-compiler libeigen3-dev genromfs xmlstarlet libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev 
pip2 install pandas jinja2 pyserial cerberus pyulog==0.7.0 numpy toml pyquaternion empy pyyaml 
pip3 install packaging numpy empy toml pyyaml jinja2 pyargparse 
pip install --upgrade setuptools 
python -m pip install --upgrade pip 
sudo apt install ros-melodic-gazebo-* 
sudo apt-get install ros-melodic-camera-info-manager 
mkdir -p xtdrone_ws/src 
cd xtdrone_ws/src/ 
git clone https://github.com/robin-shaun/XTDrone --recursive 
cp ~/drone_ws/*.sh . 
mkdir -p xtdrone_ws/src 
cd ~/xtdrone_ws$ 
./rosdep.sh 

ERROR: Could not find a package controlConfig.cmake

=> roscd xtdrone_qt 
~/xtdrone_ws/src/XTDrone/coordination/formation_communication_demo 
sudo mv xtdrone_qt/ .xtdrone_qt/ 

ERROR: Build error

=> catkin_make 
=> catkin_make_isolated 
=> catkin build 

ERROR: Catkin build not found

ERROR: Could not find a package Qt5ChartsConfig.cmake

ERROR: cannot find -lpose_utils

------------- RUN XTDrone -------------

cd ~/PX4-Autopilot 
roslaunch px4 indoor1.launch 
 OR 
roslaunch px4 mavros_posix_sitl_iris_0.launch 
cd ~/XTDrone/communication/ 
python multirotor_communication.py iris 0 
cd ~/XTDrone/control/keyboard 
python multirotor_keyboard_control.py iris 1 vel 

================ KALIBR ============

Run

Realsense

-------- Record---------

cd ~/drone_ws/src/kalibr/aslam_offline_calibration/kalibr/python 
roslaunch vins rs_camera_d435.launch 
 OR 
roslaunch depthai_examples stereo_node.launch 
rqt_image_view 
rosrun topic_tools throttle messages /camera/infra1/image_rect_raw 4.0 /cam0/image_raw 
rosrun topic_tools throttle messages /camera/infra2/image_rect_raw 4.0 /cam1/image_raw 
 OR
rosrun topic_tools throttle messages /stereo_publisher/left/image 4.0 /cam0/image_raw 
rosrun topic_tools throttle messages /stereo_publisher/right/image 4.0 /cam1/image_raw 
rosbag record /cam0/image_raw /cam1/image_raw 

-------- Calibrate---------

-------- Test with Vins---------

Install

Error

./kalibr_create_target_pdf --h

ImportError: No module named sm

============= OAK ============

Could not find a package configuration file provided by "depthai"

cd ~/oak_ws/src/luxonis/depthai-ros 
sudo ./install_dependencies.sh 
cd ~/oak_ws/ 
catkin_make --cmake-args -D depthai_DIR=/home/rajendra/oak_ws/depthai 
roslaunch depthai_examples stereo_node.launch 

================ QGC Installation =============

=============== ROSDEP Error =================

========== Realsense Driver & SDK Install ============

=============== PX4 VIO Demo ==============

==================== FUEL ===================

T1

T2