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dbaldwinryanerath
dbaldwin
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ryanerath
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DEXI ROS v0.07 (#96)
* pigpiod for servo control (#67) * Feature/calibration arducam imx519 (#69) * Initial docs for Arducam IMX519 16mp camera * Arducam IMX519 16MP calibration files * Feature/offboard navigation manager (#87) * Offboard navigation based on Casey's node * Utils refactoring * Explicit start/stop offboard commands * Offboard heartbeat example * Takeoff and land example * Add logging * Fly forward WIP * Comments * Offboard fly forward example * Offboard SITL launch file * Make offboard heartbeat more verbose * SITL docs (#89) * Docker pull notes based on system architecture * Update container URL to use HTTP instead of HTTPS Changed the container URL from https://localhost:6080 to http://localhost:6080 * SITL and Offboard docs WIP * Fix path * Unnecessary imports * Update px4_msgs to release/1.15 (#93) * Change to ubuntu home directory * Offboard SITL docs WIP * Cleanup * Takeoff and land docs * Offboard fly forward docs * pigpiod for servo control (#95) * Offboard fly foward docs * SITL offboard launchfile * Typo * Fixes NV21 format error with cv_bridge * Offboard box mission, rosbridge for node-red * Precision * Compressed format for lower bandwidth * Disable pigpiod for now --------- Co-authored-by: ryanerath <110474861+ryanerath@users.noreply.github.com>
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‎dexi/camera_info/arducam_imx519_16mp.txt‎

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# oST version 5.0 parameters
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[image]
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width
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640
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height
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480
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[narrow_stereo]
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camera matrix
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782.063681 0.000000 445.198357
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0.000000 777.530039 216.421280
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0.000000 0.000000 1.000000
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distortion
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-0.236864 0.026662 0.001547 -0.000429 0.000000
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rectification
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1.000000 0.000000 0.000000
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0.000000 1.000000 0.000000
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0.000000 0.000000 1.000000
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projection
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729.889711 0.000000 455.309981 0.000000
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0.000000 758.696695 215.663313 0.000000
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0.000000 0.000000 1.000000 0.000000

‎dexi/camera_info/arducam_imx519_16mp.yaml‎

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image_width: 640
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image_height: 480
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camera_name: narrow_stereo
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camera_matrix:
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rows: 3
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cols: 3
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data: [782.06368, 0. , 445.19836,
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0. , 777.53004, 216.42128,
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0. , 0. , 1. ]
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distortion_model: plumb_bob
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distortion_coefficients:
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rows: 1
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cols: 5
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data: [-0.236864, 0.026662, 0.001547, -0.000429, 0.000000]
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rectification_matrix:
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rows: 3
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cols: 3
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data: [1., 0., 0.,
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0., 1., 0.,
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0., 0., 1.]
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projection_matrix:
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rows: 3
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cols: 4
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data: [729.88971, 0. , 455.30998, 0. ,
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0. , 758.6967 , 215.66331, 0. ,
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0. , 0. , 1. , 0. ]

‎dexi/launch/camera.launch.xml‎

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<param name="camera" value="0" />
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<param name="width" value="640" />
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<param name="height" value="480" />
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<param name="format" value="BGR888" />
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<param name="jpeg_quality" value="50" />
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</node>
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<!-- Camera 1 node -->
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<param name="camera" value="1" />
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<param name="width" value="640" />
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<param name="height" value="480" />
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<param name="format" value="BGR888" />
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<param name="jpeg_quality" value="50" />
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</node>
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<!-- Web video server node -->

‎dexi/launch/dexi.launch.xml‎

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<let name="offboard" value="true" />
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<!-- These can be passed in from command line -->
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<!-- ros2 launch dennis_launch_file dexi.launch.xml cam0:=true cam1:=false gpio:=true apriltags:=true -->
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<!-- ros2 launch dexi dexi.launch.xml cam0:=true cam1:=false gpio:=true apriltags:=true -->
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<arg name="cam0" default="true" />
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<arg name="cam1" default="false" />
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<arg name="gpio" default="false" />

‎dexi/scripts/install.bash‎

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sudo cp "$(dirname "$0")/dexi.service" /etc/systemd/system/
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sudo cp "$(dirname "$0")/dexi_avr.service" /etc/systemd/system/
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sudo cp "$(dirname "$0")/pigpiod.service" /etc/systemd/system/
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sudo systemctl daemon-reload
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sudo systemctl enable dexi.service
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sudo systemctl restart dexi.service
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#sudo systemctl enable pigpiod.service
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#sudo systemctl restart pigpiod.service
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#sudo systemctl disable dexi.service
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#sudo systemctl enable dexi_avr.service
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#sudo systemctl enable dexi_avr.service

‎dexi/scripts/pigpiod.service‎

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[Unit]
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Description=Pigpio daemon
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[Service]
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Type=forking
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PIDFile=pigpio.pid
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ExecStart=/usr/local/bin/pigpiod
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[Install]
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WantedBy=multi-user.target

‎dexi_interfaces‎

‎dexi_py/dexi_py/led_flight_mode_status.py‎

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import rclpy
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from rclpy.node import Node
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from std_msgs.msg import String
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from enum import IntEnum
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from .utils.flight_mode import FlightMode
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from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy, DurabilityPolicy
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from px4_msgs.msg import VehicleStatus
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BLACK
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)
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# These map to PX4 msgs VechicleStatus nav_state
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class FlightMode(IntEnum):
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MANUAL = 0
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ALTITUDE = 1
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POSITION = 2
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MISSION = 3
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HOLD = 4
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RTL = 5
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SLOW = 6
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FREE5 = 7
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FREE4 = 8
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FREE3 = 9
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ACRO = 10
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FREE2 = 11
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DESCEND = 12
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TERMINATION = 13
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OFFBOARD = 14
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STABILIZED = 15
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FREE1 = 16
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TAKEOFF = 17
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LAND = 18
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TARGET = 19
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PRECLAND = 20
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ORBIT = 21
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VTOL_TAKOFF = 22
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class LEDFlightModeStatus(Node):
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def __init__(self):

‎dexi_py/dexi_py/offboard.py‎

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