Видео

www.wilselby.com/research/ros-integration/ works for me currently

@@wilselby The url shows the following error: Warning: mysqli_set_charset(): Error executing query in /app/public.built/wp-includes/wp-db.php on line 756 Warning: Cannot modify header information - headers already sent by (output started at /app/public.built/wp-includes/wp-db.php:756) in /app/public.built/wp-includes/pluggable.php on line 1223

Following, any updates ?

@@nirajpudasaini4450 ended up using nav2 with a pid to control z axis. Version 2 of my system is from scratch tho: first spline interpolation to create poses then following said poses with velocity commands

@@nikolaiphilipenko9210 thanks for such a prompt response. I am trying to work around with moveit and ros melodic for the past 3 months for my bachelors thesis. I am still not able to succesfully execute the path planning. I would appreciate if you can share any resources that you have made public. I will try to switch to nav2 if it works. Fyi: i am using bluerov2 as a robot, and have successfully assembled and tested its built in functionality.

s3-us-west-2.amazonaws.com/selbystorage/wp-content/uploads/2016/05/Selby_Quad_Robust_Ctrl.pdf

You can find all the info here: www.wilselby.com/research/arducopter/autopilot-implementation/

@@wilselby i have checked everything, it doesn't tell whether your burn the APM or upload file. Can you please refer to some specific page?

@@adeelehsan2019 ah sorry, just upload the file github.com/wilselby/CustomFC/blob/master/CustomFC.ino to the arduino

@@wilselby Thanks sir! I appreciate it!

@@adeelehsan2019 hey bro did work for you ? would you please share your circuit diagram

I think you could use the navigation stack packages for a ground robot.

Here's a tutorial I wrote related to this video: www.wilselby.com/research/ros-integration/control-system-implementation/

hey did you find a solution ?

Here's the MATLAB code: s3-us-west-2.amazonaws.com/selbystorage/Files/sliding_control.m

A detailed tutorial is available here: www.wilselby.com/research/ros-integration/3d-mapping-navigation

Wil Selby thank you so much for your help. Can we do this based on Arduino?

Check out my detailed tutorial here: www.wilselby.com/research/ros-integration/3d-mapping-navigation The Occupancy Map Updater is the primary component of MoveIt! that deals with 3D perception. You can use the PointCloud Occupancy Map Updater plugin.

The octomap that is created is a collision map. Toward the end of the video, you can see that MoveIt! creates a trajectory around some of the obstacles identified in the ocotmap.

Thank you so much for your reply. I have created a 3D map by point cloud2. However the PR2 arm dosen't consider it as collision object . Do you know the reason?

That I'm not sure of unfortunately, sorry.

Thank you for your reply. I fix it by reference this link docs.ros.org/indigo/api/pr2_moveit_tutorials/html/planning/src/doc/perception_configuration.html

This is in simulation, so there are no errors in any of the measurements.

I also get ground truth odometry from gazebo but I can not synchronize point cloud and odometry messages

I tried Time Synchronizer of message_filters but I get an error which may be related to boost libraries.

Here's a more detailed tutorial which might help: www.wilselby.com/research/ros-integration/3d-mapping-navigation/

It's hosted here: www.wilselby.com/research/mit-class-projects/

thank you very much willy

i am so sorry for word willy I did not concentrate when I wrote, again thanks wil

Good luck!

I think it should work if you can get RGB-D information and pointcloud information from your sensors.

Try replacing the yaw controller with a simple PI or PID controller and see if that helps.

+Wil Selby thanks for replying , i have remplace m'y yaw smc by pid as you Saïd , but nothing change , do you think i have to remove thé saturation blocks ? , i put the saturation block on contrôler output and in the input of motors w1,2,3,4 , or do you think i have to add (m*g) to U1 (MASS * GRAVITY) + OUTPUT OF CONTROLLER OF ALTITUDE ?

U1 should already have m*g in it. If it doesn't then you should add it. I would remove the saturation blocks for now since this is just a simulation and you are debugging.

I will add (m*g) and remove the saturation blocks , thanks a lot

github.com/wilselby/diy_driverless_car_ROS

@@wilselby could you tell me how to set the navigation?i can only use the teleop to control the vehicle.And the opencv didnot show the image.

@@janesjako6934 Did you verify that the control system is publishing control commands on the right ROS topic?

@@wilselby Hi,Wil,thanks for your answer.I didnot see the control commands.By the way,i still have a question,if i jsut do the pure simulation without phyical vehicle and material,do i have to use the raspberry camera ?I am not sure if i have to use the camera or not ,if it is needed ,it seems like i have to install a ubuntu mate system,which is very complicate ,bec if i install it,all the environment that i install in my ubuntu 16.04 will be gone.

@@janesjako6934 You do not need the phyiscal camera, the ROS Gazebo environment will simulate it for you!

I tested some values in the simulation to start with but then just trial and error on the actual system.

may I know what values you used? For the x,y,z, roll, pitch, and yaw controllers? I've seen your matlab code however i believe you used a different set of values for the actual quadrotor... Thanks! I'm sorry for any inconvenience!

Ronello, Here is the actual file: s3-us-west-2.amazonaws.com/selbystorage/Files/slide_tan.cpp I believe the values were: double sigma[3] = {1.5,1.5,1}; double meu[3] = {2.5,2.5,1}; double lambda[3] = {2,2,10};

Hello! My I ask how you obtained the values of the moments of inertia? Thanks

I just estimated them. See this page for specifics: www.wilselby.com/research/arducopter/model-verification/ It's in the section labeled "Quadrotor Body Moment of Inertia"

Mohamed, You can find an email for me at www.wilselby.com

Check out my 2D mapping and navigation video here: ruclips.net/video/orYNS6ntjnY/видео.html It has links to a tutorial on my website with sample code.

Thanks for help! Another question: Can I use a bumper sensor to bump with everything in a room and then store the coordinates of all those points. Then I know which all point have an obstacle. So can something like this be used to map a room. Thanks again!

Raghav, I don't have any experience doing this but here is the link to a bumper sensor: wiki.ros.org/evarobot_bumper and you can use this package to convert the bumper data to a pointcloud which can then be an input into a costmap for gmapping: wiki.ros.org/kobuki_bumper2pc -Wil

Thanks a lot! sorry for late reply.

Hi, sorry for bothering again but do you know of any Path Planning Algorithm I can use for traversing a room in best possible way with a known boundary. Thanks a lot for help.

Rajesh, The Final Project Report is available and the MATLAB code can be found here. Good luck!

I used a Vicon motion capture system to get position and orientation information.

and whether autopilot did you use? Pixhawk? did you generate your code by Matlab simulink ? because I'am doing it

The Ascending Technologies quadrotor ran it's own autopilot software. The autopilot inputs were desired roll and pitch angles, yaw rate, and thrust. I wrote a program using the algorithms developed in MATLAB to compute the inputs for the autopilot.

I don't have Gazebo 7 so I can't verify the issue. Just to confirm you are using the formulapi_track1.world and formulapi_track_1.dae files on the repository here: github.com/wilselby/formulapi_ROS_simulator/tree/master/formulapi_gazebo/worlds Also, try rotating your camera view. Sometimes the colors are altered based on the camera angle.

Thanks Sir. Really benefit from your tutorial I will have a try on gazebo 2.x(?) Also I am re-implement the simulator in a model of turtlebot3 Your tutorial is awesome and I will pay effort for learning from what you have done

I have try in the gazebo 2.x and the map is implemented successfully Thanks sir

Glad to hear it worked out!

Ritesh, If you want to use one of the provided algorithms in MoveIt!, follow this tutorial: www.wilselby.com/research/ros-integration/3d-mapping-navigation/ If you want to use a custom algorithm, look at the MoveIt! API: moveit.ros.org/code-api -Wil

ok so for that I need to run sitl inside the simulator

Anurang, Check out my tutorial here: www.wilselby.com/research/ros-integration/3d-mapping-navigation/ It should enable you to recreate the video above and provide detail on the code so you can apply it to your own project. Good luck!

Thanks Mohamad! The full ROS repository is available here: github.com/wilselby/ROS_quadrotor_simulator and the outdoor.world file is located here: github.com/wilselby/ROS_quadrotor_simulator/blob/master/quad_gazebo/worlds/outdoor.world You can read more about this research here: wilselby.com/research/ros-integration/ Hope that helps! -Wil

thanks

This project used the Ascending Technologies Hummingbird platform and their organic flight controller. It is possible to integrate control algorithms with ArduPilot. Essentially, you want to create a control algorithm that outputs desired roll and pitch angles as well as a yaw rate and thrust command. You can then override the RC commands and have the ArduPilot input come from your control system. I believe DroneKit was meant to help make this process smoother but I'm sure there are examples online as well.

Anas, There's more detailed information on my website here: www.wilselby.com/research/mit-class-projects/ to include the Final Project Report and the MATLAB code. Hope that helps!

tq will selby...i will inform u if i need your help

Hey Keyu, All the code and documentation is on the website here: www.wilselby.com/research/ros-integration/2d-mapping-navigation/ You should only need to run the launch file to get everything running. One launch file is for setting up an environment to create the map (quad_slam_laser_map.launch), the other launch file is for loading that recorded map and navigating using it (quad_2dnav.launch). Those should take care of launching all the required nodes in the proper order to include Gazebo and RVIZ. Regards, Wil

+Wil Selby Thank you very much!

does the above documentation work with ROS-kinetic? or should i use with indigo????

Hi, the link display a blank page

+Grex0 Feel free to email me accounts [at] wilselby [dot] com.

Adnan, Thanks for the feedback. We created simulations and prototyped our control system in Matlab but used an Arduino microcontroller to read the sensors and sent motor commands. The Arduino code can be read here: s3-us-west-2.amazonaws.com/selbystorage/Files/Arduino_code.pdf and the full project report including Matlab code and hardware specifications can be read here: s3-us-west-2.amazonaws.com/selbystorage/Files/SelbyTrappFInalReport.pdf Hope that helps! -Wil

Amit. Thanks for your interest. I posted my code here: s3-us-west-2.amazonaws.com/selbystorage/Files/sliding_control.m Let me know if you have trouble accessing it. Good Luck!! -Wil

Thanks a lot..wil surely ask..