Ubuntu VMWare Image

VMWare player is freely available and does not share the notorious issues VirtualBox has with USB devices and graphics drivers.

Current Specs

  • Ubuntu 12.04.4 LTS
  • ROS Hydro
  • gcc/g++/cpp 4.7
  • PCL 1.7
  • Boost 1.46
  • OpenNI 2.2
  • qgroundcontrol

Purpose

Auxiliar VM to test pose estimation algorithms. Theire pose estimations are sent through MAVLINK protocol with the help of the mavlink-ROS bridge, mavros.

Username / Login

USER: vision PASSWORD: px4

Packages

mavros

current version: 0.7

ROS WIKI page: http://wiki.ros.org/mavros

Tutorials and Git repo: https://github.com/vooon/mavros

Installing

  1. In Ubuntu terminal:
    $ cd vision_ros_ws/

Always make sure to update to lastest version!
To update, use:

$ cd ~/vision_ros_ws/src/mavros/ && git pull origin master

If you want to overwrite local changes made by you, do:

$ cd ~/vision_ros_ws/src/mavros/ && git checkout HEAD^ file/to/overwrite && git pull origin master

mavros plugins of interest for vision and motion planning purposes

All of the following plugins guarantee a convertion between ENU and NED coordinate frames.

In

/mavros/mavros/src/plugins/

local_position.cpp - viz and planning purposes; receive and convert LOCAL_POSITION_NED packet
setpoint_position.cpp - receive, convert and send SET_POSITION_TARGET_LOCAL_NED packet with only a position vector (x,y,z) to the FCU.
setpoint_velocity.cpp - receive, convert and send SET_POSITION_TARGET_LOCAL_NED packet with only linear velocity vector (vx,vy,vz) to the FCU.
setpoint_accel.cpp - receive, convert and send SET_POSITION_TARGET_LOCAL_NED packet with only accelerations or forces (afx,afy,afz) to the FCU.
setpoint_attitude.cpp - receive, convert and send SET_ATTITUDE_TARGET packet with angular velocities of roll, pitch and yaw, or quaternions to the FCU.

In

/mavros/mavros_extras/src/plugins/

mocap_pose_estimate.cpp - receive, convert and send VICON_POSITION_ESTIMATE packet with a pose estimation derived from a local motion capture system. Compatible with both VICON and OptiTrack.

Note: lacks fusion implementation on PX4 side.

vision_pose_estimate.cpp - receive, convert and send VISION_POSITION_ESTIMATE packet with a pose estimation derived from a local vision pose estimation algorithm.

Note: it sends orientation also, but PX4 side doesn't fuse that data.

vision_speed_estimate.cpp - receive, convert and send VISION_POSITION_ESTIMATE packet with a speed estimation derived from a local vision estimation algorithm.

Note: lacks fusion implementation on PX4 side.


Testbench

  • /vision_ros_ws/src/pose_estimation_pkgs
  • qgroundcontrol

Vision position estimate packages available

1. RGBDSLAM V2

http://felixendres.github.io/rgbdslam_v2/

Needs a RGB-D type camera!

Kinect: http://www.microsoft.com/en-us/kinectforwindows/
Asus Xtion Live and Pro Live: http://www.asus.com/Multimedia/Xtion_PRO_LIVE/
Primesense Carmine 1.08/09: http://www.amazon.com/Primesense-Carmine-1-09-Camera-Sensor/dp/B00KO908MM (official sales shutdown due to Primesense acquision by Apple!)

  • how to test:
  1. rosrun mavros node
  2. $ roslaunch rgbdslam MAV_tracker.launch
  3. press space to start processing
  4. several parameters can be change-check rgbdslam_sample_config.launch (can also be changed in the GUI)
  • check tf on Rviz or local_position_NED in qgroundcontrol plot tool

2. CCNY RGBD

http://wiki.ros.org/ccny_rgbd?distro=groovy

Needs a RGB-D type camera!

Kinect: http://www.microsoft.com/en-us/kinectforwindows/
Asus Xtion Live and Pro Live: http://www.asus.com/Multimedia/Xtion_PRO_LIVE/
Primesense Carmine 1.08/09: http://www.amazon.com/Primesense-Carmine-1-09-Camera-Sensor/dp/B00KO908MM (official sales shutdown due to Primesense acquision by Apple!)

  • how to test:
  1. rosrun mavros node
  2. $ roslaunch ccny_rgbd vo+mapping.launch
  • check tf on Rviz or local_position_NED in qgroundcontrol plot tool

3. AR Track Alvar

http://wiki.ros.org/ar_track_alvar

  • how to test:
  1. rosrun mavros node
  2.      $ rosrun mavros node
         $ roslaunch mav_tracker_no_depth.launch
  • Check tf on Rviz or local_position_NED in qgroundcontrol plot tool

Contact

Nuno Marques (TSC21)
  • @ Hotmail: <n DOT marques21 AT hotmail DOT com>
  • @ Gmail: <nuno DOT msm1 AT gmail DOT com>
  • @ Skype: < nuno DOT marques DOT 163>
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