ROS simulation and interface with DJI Air 2S (or others).

Gazebo Simulation

• Requirements

  • Ubuntu 20.04
  • ROS Noetic and set up catkin workspace
  • git lfs
  • Flask

• Installation

  • Take a look at these tutorials to setup ardupilot, gazebo and the ardupilot gazebo plugin by Intelligent-Quads

    Installing Ardupilot and MAVProxy

    Installing QGroundControl

    Installing Gazebo and ArduPilot Plugin

  • Clone this repository

    cd ~/catkin_ws/src
    git clone https://github.com/hayashilab/drone_sim.git
    catkin build
    echo 'export GAZEBO_MODEL_PATH=~/catkin_ws/src/drone_sim/models' >> ~/.bashrc
    source ~/.bashrc
    

  • Launch the world

    roslaunch drone_sim  beach_drone.launch
    

  • Launch SITL

    cd ~/ardupilot/ArduCopter/
    sim_vehicle.py -v ArduCopter -f gazebo-iris --console
    

  • Launch web interface

    http://0.0.0.0:5000/
    

  

  • Terminal drone command

    mode guided     #switch to GUIDED mode
    arm throttle    #arm the drone
    takeoff z       #take off to z meter
    position x y z  #move to position x y z relative to previous position
    set yaw r 0 1   #rotate r degree relative to previous position
    

  • Available scripts

    Script	Description
    DJI_drone_status	Establish connection between Mavic Air 2S and Python script, see [Drone-PC Interface](## Drone-PC Interface)
    SIM_drone_status	Establish connection between Mavic Air 2S and Python script inside Gazebo simulation.
    tools/convert_plan	Convert flight plan format from QGroundControl to MAVLink
    tools/extract_video_frame	Extract images from video
    tools/get_sim_image	Receive drone camera video from simulation (for testing)
    tools/save_rosbag_video	Save rosbag video as a file

Drone-PC Interface

• Follow instruction to install Rosettadrone.

  1. Clone or download the repository.

     git clone https://github.com/OpenDroneMap/WebODM.git
     

  2. In Android Studio, select File->New->Import Project and navigate to the downloaded folder.

  3. Sign up for the DJI Developer Program at https://developer.dji.com/mobile-sdk/ and create an Application key. The package name should be sq.rogue.rosettadrone.

  4. Generate Google Maps API key using instructions at https://developers.google.com/maps/documentation/javascript/get-api-key#creating-api-keys

  5. Create a new file called keys.xml in the /app/src/main/res/values/ folder, and insert the following:

     <?xml version="1.0" encoding="utf-8"?>
     <resources>
         <string name="dji_key">INSERT KEY HERE</string>
         <string name="google_key">INSERT KEY HERE</string>
     </resources>
     

  6. Run Build->Make Project