Cyclone_dronekit

Welcome to the cyclone software architecture. This file describes the install process for this repository and how to run it one the drone.

Cloning the repository

Cloning the repository requires a couple of steps.

• Choose a directroy as to clone the repository into and open a command line in this location.
• Run git clone --recursive https://github.com/cyclone-tue/Cyclone_dronekit.git
• A new directory Cyclone_dronekit will be created. This directory contains all the code from the repository.

Installing vision dependencies

This step is only necessary if you want to use the vision capabilities of the drone. Otherwise you can skip this step.

• First install the dependencies for the vision code:
  • OpenCV
  • Eigen
• Install the H264 codec by running the following commands
  • sudo apt install libdvdnav4 libdvdread4 gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly libdvd-pkg
  • sudo apt install ubuntu-restricted-extras
• Afterwards you should be able to open the Python-C++ interface folder in a terminal and run ./build_lib.sh. This should output a shared object file into the this directory.

Running the python script

This step involves running a command script either in local simulation or on the drone.

• Open the Command Scripts folder in a terminal.
• Run python <script>.py where <script> is the name of the script you want to run. This runs the command script in a local simulation. Append --connect 127.0.0.1:14000 to the script to run it on the drone from the jetson.

Running the script in simulation

• Install Gazebo and ROS following https://github.com/khancyr/ardupilot_gazebo.

• Type sim_vehicle.py -v ArduCopter -f gazebo-iris --map --console.

• In a new terminal, type gazebo --verbose worlds/iris_arducopter_runway.world in the terminal.

• In a new terminal, type python <my_script.py> --connect=<gazebo_ip>, where <gazebo_ip> is the code indicated by --out in the gazebo terminal. For example python onehoop.py --connect=127.0.0.1:14550 --simulate=True.

• type mode guided.

• type arm throttle. It may disarm when you wait for a while.

• type takeoff <height>.

• press a key and enter in the python scripts terminal to awake the script.